diff --git a/ai2thor/tasks/ai2thor00000/init.json b/ai2thor/tasks/ai2thor00000/init.json index 1c53be58fc31e7cb5744fd2a2357f0aad8526519..2e929443d13f9766a86dd83debc10b1d9e1b688f 100644 --- a/ai2thor/tasks/ai2thor00000/init.json +++ b/ai2thor/tasks/ai2thor00000/init.json @@ -1,7 +1,7 @@ { "scene": "FloorPlan17", "actions": [ - "LookDown", - "Done" + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor00000/task.json b/ai2thor/tasks/ai2thor00000/task.json index 6e5626bfa0b24069b3c7e4714930134ea3764eeb..f9b513b7c657bc138328c5d44fd4069846efd6c5 100644 --- a/ai2thor/tasks/ai2thor00000/task.json +++ b/ai2thor/tasks/ai2thor00000/task.json @@ -5,16 +5,16 @@ "golden_actions": { "steps": 10, "actions": [ - "RotateRight(90)", - "RotateRight(90)", - "MoveAhead(1.0)", - "MoveAhead(0.25)", - "RotateLeft(90)", - "PickupObject(Lettuce)", - "MoveLeft(1.0)", - "MoveAhead(0.25)", - "PutObject(GarbageCan)", - "Done" + "Rotate(right, 90)", + "Rotate(right, 90)", + "Move(forward, 1.0)", + "Move(forward, 0.25)", + "Rotate(left, 90)", + "Pick(Lettuce)", + "Move(left, 1.0)", + "Move(forward, 0.25)", + "Place(GarbageCan)", + "EndTask(success)" ] }, "scene": "FloorPlan17", @@ -32,4 +32,4 @@ "success_logic": "OR", "target_description": "I found the lettuce was rotten; please help me throw it in the trash.", "max_steps": 50 -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor00003/init.json b/ai2thor/tasks/ai2thor00003/init.json index 9b3e0328f34c20753de2bc4ccf313ba2ed009e61..235794866a06295b509b22e6ff626aa86b44f1dd 100644 --- a/ai2thor/tasks/ai2thor00003/init.json +++ b/ai2thor/tasks/ai2thor00003/init.json @@ -1,13 +1,13 @@ { "scene": "FloorPlan228", "actions": [ - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "RotateRight(90)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "LookDown", - "Done" + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Rotate(right, 90)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Tilt(down, 30)", + "EndTask(success)" ] } \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor00003/task.json b/ai2thor/tasks/ai2thor00003/task.json index 2153ee4be6f307465e06672fa06b51391c41d352..caa7e24dd1bae48282881ba901817685ccf97c43 100644 --- a/ai2thor/tasks/ai2thor00003/task.json +++ b/ai2thor/tasks/ai2thor00003/task.json @@ -5,13 +5,13 @@ "golden_actions": { "steps": 7, "actions": [ - "PickupObject(KeyChain)", - "MoveLeft(0.5)", - "MoveLeft(0.25)", - "MoveAhead(1.0)", - "MoveAhead(0.5)", - "PutObject(Chair)", - "Done" + "Pick(KeyChain)", + "Move(left, 0.5)", + "Move(left, 0.25)", + "Move(forward, 1.0)", + "Move(forward, 0.5)", + "Place(Chair)", + "EndTask(success)" ] }, "scene": "FloorPlan228", @@ -37,4 +37,4 @@ "Evaluation_Type": "Conditional", "Category": "DailyHousehold", "Level": "Level3 Hybrid" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor02436/init.json b/ai2thor/tasks/ai2thor02436/init.json index 0a440df78a293c0b9e53120a7c15c09b6dc08283..e5a1de30a980ad9bcfb021eb22ec1057fa2b2480 100644 --- a/ai2thor/tasks/ai2thor02436/init.json +++ b/ai2thor/tasks/ai2thor02436/init.json @@ -1,7 +1,7 @@ { "scene": "FloorPlan301", "actions": [ - "LookDown", - "Done" + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor02436/task.json b/ai2thor/tasks/ai2thor02436/task.json index 7cfce248d9021ec9bf032e81291e37bc4a053c96..6b4fed82ad51a21928c2accffda2d7bef7d55417 100644 --- a/ai2thor/tasks/ai2thor02436/task.json +++ b/ai2thor/tasks/ai2thor02436/task.json @@ -5,10 +5,10 @@ "golden_actions": { "steps": 4, "actions": [ - "MoveAhead(1.0)", - "MoveAhead(0.5)", - "ToggleObjectOn(Laptop)", - "Done" + "Move(forward, 1.0)", + "Move(forward, 0.5)", + "ChangeState(Laptop, on)", + "EndTask(success)" ] }, "scene": "FloorPlan301", @@ -29,4 +29,4 @@ "Evaluation_Type": "Conditional", "Category": "Study and Work", "Level": "Level3 Hybrid" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor02437/init.json b/ai2thor/tasks/ai2thor02437/init.json index d756ac6c49b6e51499812afc0e796d4051f6e359..571031d41c8c98a234ba3da2b6939a48671940bf 100644 --- a/ai2thor/tasks/ai2thor02437/init.json +++ b/ai2thor/tasks/ai2thor02437/init.json @@ -1,7 +1,7 @@ { "scene": "FloorPlan302", "actions": [ - "LookDown", - "Done" + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor02437/task.json b/ai2thor/tasks/ai2thor02437/task.json index c4855fbc8f7da05ada42ed43430028b447cc629d..8b4588ea4c5431528a5d5fd1313cb0eeb775cb66 100644 --- a/ai2thor/tasks/ai2thor02437/task.json +++ b/ai2thor/tasks/ai2thor02437/task.json @@ -4,7 +4,12 @@ "instruction": "I want to rest for a while, please turn off the desk lamp for me.", "golden_actions": { "steps": 4, - "actions": ["RotateLeft(90)","RotateLeft(90)","ToggleObjectOff(DeskLamp)","Done"] + "actions": [ + "Rotate(left, 90)", + "Rotate(left, 90)", + "ChangeState(DeskLamp, off)", + "EndTask(success)" + ] }, "scene": "FloorPlan302", "target_object_types": [ @@ -21,4 +26,4 @@ "success_logic": "OR", "target_description": "I want to rest for a while, please turn off the desk lamp for me.", "max_steps": 30 -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor02438/init.json b/ai2thor/tasks/ai2thor02438/init.json index 146cd690bffa6130e60b1d027ef35fa3e50e8978..eaf4ce4c81739354101673192cf5d4afd1851133 100644 --- a/ai2thor/tasks/ai2thor02438/init.json +++ b/ai2thor/tasks/ai2thor02438/init.json @@ -1,7 +1,7 @@ { "scene": "FloorPlan303", "actions": [ - "RotateRight(90)", - "Done" + "Rotate(right, 90)", + "EndTask(success)" ] } \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor02438/task.json b/ai2thor/tasks/ai2thor02438/task.json index b8e65cfdf2cdb6c593fdaabe85c3135cebdf9070..68a2f4d5aedd83e45f735378d971e95a1fe19dab 100644 --- a/ai2thor/tasks/ai2thor02438/task.json +++ b/ai2thor/tasks/ai2thor02438/task.json @@ -5,11 +5,11 @@ "golden_actions": { "steps": 5, "actions": [ - "MoveAhead(0.5)", - "ToggleObjectOn(Laptop)", - "ToggleObjectOff(DeskLamp)", - "PickupObject(Pencil)", - "Done" + "Move(forward, 0.5)", + "ChangeState(Laptop, on)", + "ChangeState(DeskLamp, off)", + "Pick(Pencil)", + "EndTask(success)" ] }, "scene": "FloorPlan", @@ -44,4 +44,4 @@ "Evaluation_Type": "Conditional", "Category": "DailyHousehold", "Level": "Level3 Hybrid" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor02763/init.json b/ai2thor/tasks/ai2thor02763/init.json index 1d1659c7a61d0480b7b2c3d4d66d1bb856d817d3..adb7d7a0d6dfa1145fe11510515c464dfa0a6593 100644 --- a/ai2thor/tasks/ai2thor02763/init.json +++ b/ai2thor/tasks/ai2thor02763/init.json @@ -1,7 +1,7 @@ { "scene": "FloorPlan22", "actions": [ - "LookDown", - "Done" + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor02763/task.json b/ai2thor/tasks/ai2thor02763/task.json index 3028591f737ca94def56874ad64cb9894aec2553..1438a0484bf885c7fa579225b6891a9304f8c9a2 100644 --- a/ai2thor/tasks/ai2thor02763/task.json +++ b/ai2thor/tasks/ai2thor02763/task.json @@ -5,14 +5,14 @@ "golden_actions": { "steps": 8, "actions": [ - "RotateRight(90)", - "RotateRight(90)", - "MoveAhead(0.5)", - "MoveLeft(0.5)", - "MoveLeft(0.25)", - "MoveAhead(0.5)", - "PickupObject(Tomato)", - "Done" + "Rotate(right, 90)", + "Rotate(right, 90)", + "Move(forward, 0.5)", + "Move(left, 0.5)", + "Move(left, 0.25)", + "Move(forward, 0.5)", + "Pick(Tomato)", + "EndTask(success)" ] }, "scene": "FloorPlan22", @@ -30,4 +30,4 @@ "success_logic": "AND", "target_description": "I want to check if the tomato is rotten. Please pick up this tomato for me.", "max_steps": 30 -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor03000/init.json b/ai2thor/tasks/ai2thor03000/init.json index 94619b5b0dd218236f5a33e9dbeec79f55be9bdd..a10ef9b3df331b58a70cb7699b2ff914205434c1 100644 --- a/ai2thor/tasks/ai2thor03000/init.json +++ b/ai2thor/tasks/ai2thor03000/init.json @@ -1,20 +1,20 @@ { "scene": "FloorPlan11", "actions": [ - "RotateLeft(90)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "RotateLeft(90)", - "RotateLeft(90)", - "MoveRight(0.25)", - "LookDown", - "Done" + "Rotate(left, 90)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Rotate(left, 90)", + "Rotate(left, 90)", + "Move(right, 0.25)", + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor03000/task.json b/ai2thor/tasks/ai2thor03000/task.json index 6675ed234f008c96be773416360f9c913af441bc..66391925755d005841c668bcf4cca42d1692f8a1 100644 --- a/ai2thor/tasks/ai2thor03000/task.json +++ b/ai2thor/tasks/ai2thor03000/task.json @@ -5,17 +5,17 @@ "golden_actions": { "steps": 11, "actions": [ - "OpenObject(Fridge)", - "RotateRight(90)", - "MoveBack(0.25)", - "PickupObject(Egg)", - "CloseObject(Fridge)", - "RotateLeft(90)", - "MoveAhead(1.0)", - "MoveAhead(1.0)", - "MoveAhead(0.25)", - "PutObject(Pan)", - "Done" + "Manipulate(Fridge, open)", + "Rotate(right, 90)", + "Move(backward, 0.25)", + "Pick(Egg)", + "Manipulate(Fridge, close)", + "Rotate(left, 90)", + "Move(forward, 1.0)", + "Move(forward, 1.0)", + "Move(forward, 0.25)", + "Place(Pan)", + "EndTask(success)" ] }, "scene": "FloorPlan11", @@ -55,4 +55,4 @@ "Evaluation_Type": "Conditional", "Category": "Daily Household (Kitchen/Bedroom)", "Level": "Level3 Hybrid" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor03001/init.json b/ai2thor/tasks/ai2thor03001/init.json index f5d8aca6d0d5be3ed9868d6540be87d1ad3622ef..2562a825fb32d1236b6e04a796ce4fd26c2ffa45 100644 --- a/ai2thor/tasks/ai2thor03001/init.json +++ b/ai2thor/tasks/ai2thor03001/init.json @@ -1,11 +1,11 @@ { "scene": "FloorPlan11", "actions": [ - "RotateLeft(90)", - "RotateLeft(90)", - "MoveLeft(0.25)", - "MoveLeft(0.25)", - "LookDown", - "Done" + "Rotate(left, 90)", + "Rotate(left, 90)", + "Move(left, 0.25)", + "Move(left, 0.25)", + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor03001/task.json b/ai2thor/tasks/ai2thor03001/task.json index 295dbfc0e039547ffddbcdaab640ddf024f70f49..5a13ab9caf7ddc48c30b4423736284b16ff79cce 100644 --- a/ai2thor/tasks/ai2thor03001/task.json +++ b/ai2thor/tasks/ai2thor03001/task.json @@ -5,10 +5,10 @@ "golden_actions": { "steps": 3, "actions": [ -"SliceObject(Tomato)", -"SliceObject(Lettuce)", -"Done" -] + "Manipulate(Tomato, slice)", + "Manipulate(Lettuce, slice)", + "EndTask(success)" + ] }, "scene": "FloorPlan11", "target_object_types": [ @@ -17,21 +17,19 @@ "Bread" ], "success_conditions": [ - { "type": "object_state", "object_type": "Tomato", "state": "isSliced", "value": true }, - { + { "type": "object_state", "object_type": "Lettuce", "state": "isSliced", "value": true }, - - { + { "type": "object_state", "object_type": "Bread", "state": "isSliced", @@ -43,5 +41,5 @@ "max_steps": 30, "Evaluation_Type": "Conditional", "Category": "Daily Household (Kitchen/Bedroom)", - "Level":"Level2 Interaction" -} + "Level": "Level2 Interaction" +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor03002/init.json b/ai2thor/tasks/ai2thor03002/init.json index 1cd880ea787ff94be7edcea1e46fbf70e74432c2..aec30a8bd83fd6c5abbd55935b477f8ed91ed965 100644 --- a/ai2thor/tasks/ai2thor03002/init.json +++ b/ai2thor/tasks/ai2thor03002/init.json @@ -1,12 +1,12 @@ { "scene": "FloorPlan11", "actions": [ - "RotateRight(90)", - "MoveBack(0.25)", - "MoveBack(0.25)", - "MoveLeft(0.25)", - "MoveBack(0.25)", - "LookDown", - "Done" + "Rotate(right, 90)", + "Move(backward, 0.25)", + "Move(backward, 0.25)", + "Move(left, 0.25)", + "Move(backward, 0.25)", + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor03002/task.json b/ai2thor/tasks/ai2thor03002/task.json index 2df9b333efdf699930bf0b8cd7e23ffb3d5c1177..5c27c508ffff43c650a6cd5d6b478cd71c26aa0e 100644 --- a/ai2thor/tasks/ai2thor03002/task.json +++ b/ai2thor/tasks/ai2thor03002/task.json @@ -5,21 +5,21 @@ "golden_actions": { "steps": 15, "actions": [ - "MoveAhead(1.0)", - "MoveAhead(0.25)", - "RotateRight(90)", - "MoveAhead(0.25)", - "MoveLeft(0.25)", - "SliceObject(Bread)", - "PickupObject(BreadSliced)", - "RotateRight(90)", - "RotateRight(90)", - "MoveAhead(0.25)", - "MoveLeft(0.25)", - "MoveAhead(0.25)", - "ToggleObjectOn(Toaster)", - "PutObject(Toaster)", - "Done" + "Move(forward, 1.0)", + "Move(forward, 0.25)", + "Rotate(right, 90)", + "Move(forward, 0.25)", + "Move(left, 0.25)", + "Manipulate(Bread, slice)", + "Pick(BreadSliced)", + "Rotate(right, 90)", + "Rotate(right, 90)", + "Move(forward, 0.25)", + "Move(left, 0.25)", + "Move(forward, 0.25)", + "ChangeState(Toaster, on)", + "Place(Toaster)", + "EndTask(success)" ] }, "scene": "FloorPlan11", @@ -53,4 +53,4 @@ "Evaluation_Type": "Conditional", "Category": "Daily Household (Kitchen/Bedroom)", "Level": "Level3 Hybrid" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor03003/init.json b/ai2thor/tasks/ai2thor03003/init.json index 5eb32e5ece8ba822a04d9a5998c7676f78229bfd..e10d0c976a19cfa56957e367f31f45f35baf519b 100644 --- a/ai2thor/tasks/ai2thor03003/init.json +++ b/ai2thor/tasks/ai2thor03003/init.json @@ -1,12 +1,12 @@ { "scene": "FloorPlan11", "actions": [ - "RotateLeft(90)", - "MoveRight(0.25)", - "MoveBack(0.25)", - "MoveBack(0.25)", - "MoveBack(0.25)", - "LookDown", - "Done" + "Rotate(left, 90)", + "Move(right, 0.25)", + "Move(backward, 0.25)", + "Move(backward, 0.25)", + "Move(backward, 0.25)", + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor03003/task.json b/ai2thor/tasks/ai2thor03003/task.json index 133a1c850e957d674980cf6d5137ef58ce7d4f3f..5c617531ec96805fceba4e031037b7ef8e9b274c 100644 --- a/ai2thor/tasks/ai2thor03003/task.json +++ b/ai2thor/tasks/ai2thor03003/task.json @@ -5,17 +5,17 @@ "golden_actions": { "steps": 11, "actions": [ - "PickupObject(Apple)", - "MoveAhead(1.0)", - "MoveAhead(1.0)", - "MoveAhead(0.5)", - "RotateLeft(90)", - "MoveRight(0.5)", - "MoveAhead(0.25)", - "OpenObject(Fridge)", - "PutObject(Fridge)", - "CloseObject(Fridge)", - "Done" + "Pick(Apple)", + "Move(forward, 1.0)", + "Move(forward, 1.0)", + "Move(forward, 0.5)", + "Rotate(left, 90)", + "Move(right, 0.5)", + "Move(forward, 0.25)", + "Manipulate(Fridge, open)", + "Place(Fridge)", + "Manipulate(Fridge, close)", + "EndTask(success)" ] }, "scene": "FloorPlan11", @@ -42,4 +42,4 @@ "Evaluation_Type": "Conditional", "Category": "Daily Household (Kitchen/Bedroom)", "Level": "Level3 Hybrid" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor03004/init.json b/ai2thor/tasks/ai2thor03004/init.json index 19bb758eddd6aae6057dbea52fff53fe2600d1c4..10b16da9c7cfb705435c35943ea47f78ae87be86 100644 --- a/ai2thor/tasks/ai2thor03004/init.json +++ b/ai2thor/tasks/ai2thor03004/init.json @@ -1,20 +1,20 @@ { "scene": "FloorPlan11", "actions": [ - "RotateLeft(90)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "RotateRight(90)", - "MoveLeft(0.25)", - "MoveAhead(0.25)", - "MoveLeft(0.25)", + "Rotate(left, 90)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Rotate(right, 90)", + "Move(left, 0.25)", + "Move(forward, 0.25)", + "Move(left, 0.25)", "DirtyObject(Pot)", - "LookDown", - "Done" + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor03004/task.json b/ai2thor/tasks/ai2thor03004/task.json index 06d88086b0558cdebf8ddec0cd379a17f089f6b4..2e5fb91c775502ed67d3055cbeff13d5e0bfd436 100644 --- a/ai2thor/tasks/ai2thor03004/task.json +++ b/ai2thor/tasks/ai2thor03004/task.json @@ -5,9 +5,9 @@ "golden_actions": { "steps": 3, "actions": [ - "CleanObject(Pot)", - "PickupObject(Pot)", - "Done" + "Manipulate(Pot, clean)", + "Pick(Pot)", + "EndTask(success)" ] }, "scene": "FloorPlan11", diff --git a/ai2thor/tasks/ai2thor03005/init.json b/ai2thor/tasks/ai2thor03005/init.json index 9a9746c494398b14cd4c8a77d8ff2fea35597c50..28745ad80d9f139e9e8b208316f60299cc598494 100644 --- a/ai2thor/tasks/ai2thor03005/init.json +++ b/ai2thor/tasks/ai2thor03005/init.json @@ -1,17 +1,17 @@ { "scene": "FloorPlan12", "actions": [ - "MoveAhead(0.25)", - "RotateLeft(90)", - "MoveBack(0.25)", - "MoveBack(0.25)", - "MoveBack(0.25)", - "MoveBack(0.25)", - "MoveBack(0.25)", - "MoveBack(0.25)", - "MoveBack(0.25)", - "MoveBack(0.25)", - "LookDown", - "Done" + "Move(forward, 0.25)", + "Rotate(left, 90)", + "Move(backward, 0.25)", + "Move(backward, 0.25)", + "Move(backward, 0.25)", + "Move(backward, 0.25)", + "Move(backward, 0.25)", + "Move(backward, 0.25)", + "Move(backward, 0.25)", + "Move(backward, 0.25)", + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor03005/task.json b/ai2thor/tasks/ai2thor03005/task.json index e66a7f9f53e05a98af4a79967989c2f4ecff4e87..b33647dc83bf10ae1b7b3e4275922fc808babaa3 100644 --- a/ai2thor/tasks/ai2thor03005/task.json +++ b/ai2thor/tasks/ai2thor03005/task.json @@ -5,14 +5,14 @@ "golden_actions": { "steps": 8, "actions": [ - "MoveAhead(0.5)", - "RotateLeft(90)", - "FillObjectWithLiquid(Cup, water)", - "RotateRight(90)", - "MoveAhead(1.0)", - "MoveAhead(1.0)", - "ToggleObjectOff(LightSwitch)", - "Done" + "Move(forward, 0.5)", + "Rotate(left, 90)", + "Manipulate(Cup, water, fillwithliquid)", + "Rotate(right, 90)", + "Move(forward, 1.0)", + "Move(forward, 1.0)", + "ChangeState(LightSwitch, off)", + "EndTask(success)" ] }, "scene": "FloorPlan12", @@ -41,4 +41,4 @@ "Evaluation_Type": "Conditional", "Category": "Daily Household (Kitchen/Bedroom)", "Level": "Level3 Hybrid" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor03006/init.json b/ai2thor/tasks/ai2thor03006/init.json index 462971fd4f770f0074a71dc31891d655183f4ff0..a3e23fabb4ed76e1de31957d022c371e39ae41cd 100644 --- a/ai2thor/tasks/ai2thor03006/init.json +++ b/ai2thor/tasks/ai2thor03006/init.json @@ -1,24 +1,24 @@ { "scene": "FloorPlan12", "actions": [ - "MoveAhead(0.25)", - "RotateRight(90)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "RotateLeft(90)", - "RotateLeft(90)", - "MoveRight(0.25)", - "MoveBack(0.25)", - "MoveBack(0.25)", - "LookDown", - "Done" + "Move(forward, 0.25)", + "Rotate(right, 90)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Rotate(left, 90)", + "Rotate(left, 90)", + "Move(right, 0.25)", + "Move(backward, 0.25)", + "Move(backward, 0.25)", + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor03006/task.json b/ai2thor/tasks/ai2thor03006/task.json index 10e7a73f9c4badf0f1dca5da9ceaaf1e0b6d75c9..5326d0bada8b2957bcf6c282ec9613f7081e2a61 100644 --- a/ai2thor/tasks/ai2thor03006/task.json +++ b/ai2thor/tasks/ai2thor03006/task.json @@ -5,16 +5,16 @@ "golden_actions": { "steps": 10, "actions": [ - "PickupObject(Bread)", - "MoveAhead(1.0)", - "MoveAhead(1.0)", - "MoveAhead(0.5)", - "RotateRight(90)", - "MoveLeft(0.25)", - "OpenObject(Fridge)", - "PutObject(Fridge)", - "CloseObject(Fridge)", - "Done" + "Pick(Bread)", + "Move(forward, 1.0)", + "Move(forward, 1.0)", + "Move(forward, 0.5)", + "Rotate(right, 90)", + "Move(left, 0.25)", + "Manipulate(Fridge, open)", + "Place(Fridge)", + "Manipulate(Fridge, close)", + "EndTask(success)" ] }, "scene": "FloorPlan12", @@ -41,4 +41,4 @@ "Evaluation_Type": "Conditional", "Category": "Daily Household (Kitchen/Bedroom)", "Level": "Level3 Hybrid" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor03007/init.json b/ai2thor/tasks/ai2thor03007/init.json index 2373b7b5ead9e0846d63fd3486f8f5a2d0dcf35f..2ff4e542c7a5e7db92f44c34706c3a80efcee310 100644 --- a/ai2thor/tasks/ai2thor03007/init.json +++ b/ai2thor/tasks/ai2thor03007/init.json @@ -1,14 +1,14 @@ { "scene": "FloorPlan12", "actions": [ - "RotateRight(90)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "RotateRight(90)", - "LookDown", - "Done" + "Rotate(right, 90)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Rotate(right, 90)", + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor03007/task.json b/ai2thor/tasks/ai2thor03007/task.json index 88be9b28b9ca33d5ac50db96801dbfb06adc538f..9249339d270b7d6d1f3dace14355ed6ce7e2b54b 100644 --- a/ai2thor/tasks/ai2thor03007/task.json +++ b/ai2thor/tasks/ai2thor03007/task.json @@ -5,27 +5,24 @@ "golden_actions": { "steps": 3, "actions": [ -"SliceObject(Tomato)", -"SliceObject(Lettuce)", -"Done" -] - + "Manipulate(Tomato, slice)", + "Manipulate(Lettuce, slice)", + "EndTask(success)" + ] }, "scene": "FloorPlan12", "target_object_types": [ "Tomato", - "Lettuce" - + "Lettuce" ], "success_conditions": [ - { + { "type": "object_state", "object_type": "Tomato", "state": "isSliced", "value": true }, - -{ + { "type": "object_state", "object_type": "Lettuce", "state": "isSliced", @@ -37,5 +34,5 @@ "max_steps": 30, "Evaluation_Type": "Conditional", "Category": "Daily Household (Kitchen/Bedroom)", - "Level":"Level2 Interaction" -} + "Level": "Level2 Interaction" +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor03008/init.json b/ai2thor/tasks/ai2thor03008/init.json index 2373b7b5ead9e0846d63fd3486f8f5a2d0dcf35f..2ff4e542c7a5e7db92f44c34706c3a80efcee310 100644 --- a/ai2thor/tasks/ai2thor03008/init.json +++ b/ai2thor/tasks/ai2thor03008/init.json @@ -1,14 +1,14 @@ { "scene": "FloorPlan12", "actions": [ - "RotateRight(90)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "RotateRight(90)", - "LookDown", - "Done" + "Rotate(right, 90)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Rotate(right, 90)", + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor03008/task.json b/ai2thor/tasks/ai2thor03008/task.json index a2ae50001c9b1503ac56549869291dab19a72e21..b90626cca37ed0ee42e5265a3bfa5c1389a63c30 100644 --- a/ai2thor/tasks/ai2thor03008/task.json +++ b/ai2thor/tasks/ai2thor03008/task.json @@ -5,12 +5,12 @@ "golden_actions": { "steps": 6, "actions": [ - "PickupObject(Egg)", - "RotateRight(90)", - "RotateRight(90)", - "MoveAhead(0.25)", - "PutObject(Pot)", - "Done" + "Pick(Egg)", + "Rotate(right, 90)", + "Rotate(right, 90)", + "Move(forward, 0.25)", + "Place(Pot)", + "EndTask(success)" ] }, "scene": "FloorPlan12", diff --git a/ai2thor/tasks/ai2thor03009/init.json b/ai2thor/tasks/ai2thor03009/init.json index 2fd6fa7122cd45f23b7f8e4c66f2bf4f58df7152..311b017fc6532a6a1d6894a36f993a9f83851441 100644 --- a/ai2thor/tasks/ai2thor03009/init.json +++ b/ai2thor/tasks/ai2thor03009/init.json @@ -1,17 +1,17 @@ { "scene": "FloorPlan12", "actions": [ - "MoveAhead(0.25)", - "RotateRight(90)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "RotateRight(90)", - "MoveAhead(0.25)", - "MoveLeft(0.25)", + "Move(forward, 0.25)", + "Rotate(right, 90)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Rotate(right, 90)", + "Move(forward, 0.25)", + "Move(left, 0.25)", "DirtyObject(Mug)", "DirtyObject(Cup)", - "LookDown", - "Done" + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor03009/task.json b/ai2thor/tasks/ai2thor03009/task.json index acee352fb111b0942a839cf00bec923d40fd7b5e..0aee564fe509d1a8b8211f05e114ab4b16beb370 100644 --- a/ai2thor/tasks/ai2thor03009/task.json +++ b/ai2thor/tasks/ai2thor03009/task.json @@ -5,28 +5,28 @@ "golden_actions": { "steps": 22, "actions": [ - "CleanObject(Cup)", - "CleanObject(Mug)", - "PickupObject(Cup)", - "RotateLeft(90)", - "RotateLeft(90)", - "MoveLeft(0.5)", - "MoveAhead(0.25)", - "MoveLeft(0.25)", - "OpenObject(Fridge)", - "PutObject(Fridge)", - "RotateRight(90)", - "MoveRight(0.25)", - "MoveAhead(0.25)", - "RotateRight(90)", - "PickupObject(Mug)", - "RotateRight(90)", - "RotateRight(90)", - "MoveLeft(0.25)", - "MoveAhead(0.25)", - "PutObject(Fridge)", - "CloseObject(Fridge)", - "Done" + "Manipulate(Cup, clean)", + "Manipulate(Mug, clean)", + "Pick(Cup)", + "Rotate(left, 90)", + "Rotate(left, 90)", + "Move(left, 0.5)", + "Move(forward, 0.25)", + "Move(left, 0.25)", + "Manipulate(Fridge, open)", + "Place(Fridge)", + "Rotate(right, 90)", + "Move(right, 0.25)", + "Move(forward, 0.25)", + "Rotate(right, 90)", + "Pick(Mug)", + "Rotate(right, 90)", + "Rotate(right, 90)", + "Move(left, 0.25)", + "Move(forward, 0.25)", + "Place(Fridge)", + "Manipulate(Fridge, close)", + "EndTask(success)" ] }, "scene": "FloorPlan12", @@ -71,4 +71,4 @@ "Evaluation_Type": "Conditional", "Category": "Daily Household (Kitchen/Bedroom)", "Level": "Level3 Hybrid" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor03010/init.json b/ai2thor/tasks/ai2thor03010/init.json index d3f9bae4abdb29f8da0c020ba8049677b5df0d7f..04d2f4ee7924c8b7e12cfa7242563c8bdee9c50b 100644 --- a/ai2thor/tasks/ai2thor03010/init.json +++ b/ai2thor/tasks/ai2thor03010/init.json @@ -1,13 +1,13 @@ { "scene": "FloorPlan13", "actions": [ - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveRight(0.25)", - "MoveRight(0.25)", - "MoveAhead(0.25)", - "Done" + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(right, 0.25)", + "Move(right, 0.25)", + "Move(forward, 0.25)", + "EndTask(success)" ] } \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor03010/task.json b/ai2thor/tasks/ai2thor03010/task.json index b43a837c6c652794da44ace0639d0fd770be72fd..e12e5807ca05b69a050a91327b0b7bd6975007d4 100644 --- a/ai2thor/tasks/ai2thor03010/task.json +++ b/ai2thor/tasks/ai2thor03010/task.json @@ -5,15 +5,15 @@ "golden_actions": { "steps": 9, "actions": [ - "PickupObject(Bread)", - "RotateLeft(90)", - "MoveAhead(1.0)", - "MoveAhead(0.5)", - "OpenObject(Microwave)", - "PutObject(Microwave)", - "CloseObject(Microwave)", - "ToggleObjectOn(Microwave)", - "Done" + "Pick(Bread)", + "Rotate(left, 90)", + "Move(forward, 1.0)", + "Move(forward, 0.5)", + "Manipulate(Microwave, open)", + "Place(Microwave)", + "Manipulate(Microwave, close)", + "ChangeState(Microwave, on)", + "EndTask(success)" ] }, "scene": "FloorPlan13", @@ -40,4 +40,4 @@ "Evaluation_Type": "Conditional", "Category": "Daily Household (Kitchen/Bedroom)", "Level": "Level3 Hybrid" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor03011/init.json b/ai2thor/tasks/ai2thor03011/init.json index 55c0f1859f69aa9159532b373ca6cc839f57ed98..c95c3222c3389bf3eceba5a1570fa7395b58d691 100644 --- a/ai2thor/tasks/ai2thor03011/init.json +++ b/ai2thor/tasks/ai2thor03011/init.json @@ -1,14 +1,14 @@ { "scene": "FloorPlan13", "actions": [ - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveRight(0.25)", - "MoveRight(0.25)", - "MoveAhead(0.25)", - "LookDown", - "Done" + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(right, 0.25)", + "Move(right, 0.25)", + "Move(forward, 0.25)", + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor03011/task.json b/ai2thor/tasks/ai2thor03011/task.json index f4826616551452675441f4433cd521a9b21fad07..4a342b5ce63855962769bcc6d5c148f5dcfe3eed 100644 --- a/ai2thor/tasks/ai2thor03011/task.json +++ b/ai2thor/tasks/ai2thor03011/task.json @@ -5,21 +5,17 @@ "golden_actions": { "steps": 3, "actions": [ -"SliceObject(Bread)", -"PickupObject(Bread)", -"Done" -] - + "Manipulate(Bread, slice)", + "Pick(Bread)", + "EndTask(success)" + ] }, "scene": "FloorPlan13", "target_object_types": [ "Bread" - ], "success_conditions": [ - - -{ + { "type": "object_state", "object_type": "Bread", "state": "isSliced", @@ -31,12 +27,11 @@ "state": "isPickedUp", "value": true } - ], "success_logic": "AND", "target_description": "I'm very hungry now, please slice the bread and pick it up.", "max_steps": 50, "Evaluation_Type": "Conditional", "Category": "Daily Household (Kitchen/Bedroom)", - "Level":"Level2 Interaction" -} + "Level": "Level2 Interaction" +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor03012/init.json b/ai2thor/tasks/ai2thor03012/init.json index 4be6ab63eb170631808c2601fe836688262fa4c0..b3eb52169a04c15376566f085b689de92c60a40d 100644 --- a/ai2thor/tasks/ai2thor03012/init.json +++ b/ai2thor/tasks/ai2thor03012/init.json @@ -1,12 +1,12 @@ { "scene": "FloorPlan13", "actions": [ - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "RotateLeft(90)", - "LookDown", - "Done" + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Rotate(left, 90)", + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor03012/task.json b/ai2thor/tasks/ai2thor03012/task.json index 54b6081d1bf6b06b0a38af91aa5cdf71a8ca575a..9f25fcb476e3609aae3b804513711fc66a46be72 100644 --- a/ai2thor/tasks/ai2thor03012/task.json +++ b/ai2thor/tasks/ai2thor03012/task.json @@ -5,18 +5,18 @@ "golden_actions": { "steps": 12, "actions": [ - "MoveAhead(0.5)", - "RotateRight(90)", - "PickupObject(Egg)", - "RotateLeft(90)", - "MoveAhead(0.5)", - "RotateLeft(90)", - "MoveAhead(0.25)", - "RotateRight(90)", - "PutObject(Pan)", - "BreakObject(Egg)", - "CookObject(EggCracked)", - "Done" + "Move(forward, 0.5)", + "Rotate(right, 90)", + "Pick(Egg)", + "Rotate(left, 90)", + "Move(forward, 0.5)", + "Rotate(left, 90)", + "Move(forward, 0.25)", + "Rotate(right, 90)", + "Place(Pan)", + "Manipulate(Egg, break)", + "Manipulate(EggCracked, cook)", + "EndTask(success)" ] }, "scene": "FloorPlan13", @@ -50,4 +50,4 @@ "Evaluation_Type": "Conditional", "Category": "Daily Household (Kitchen/Bedroom)", "Level": "Level3 Hybrid" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor03013/init.json b/ai2thor/tasks/ai2thor03013/init.json index 2e434021cae8b73b6c0ca3cbb8d2d3111943477a..0e99d599768a7e690f3fb60dd37f7c3fe9a40686 100644 --- a/ai2thor/tasks/ai2thor03013/init.json +++ b/ai2thor/tasks/ai2thor03013/init.json @@ -1,26 +1,26 @@ { "scene": "FloorPlan13", "actions": [ - "RotateLeft(90)", - "MoveRight(0.25)", - "MoveAhead(0.25)", - "MoveRight(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", + "Rotate(left, 90)", + "Move(right, 0.25)", + "Move(forward, 0.25)", + "Move(right, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", "DirtyObject(Pan)", "DirtyObject(Cup)", - "RotateRight(90)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "RotateRight(90)", - "RotateLeft(90)", - "RotateLeft(90)", - "MoveBack(0.25)", - "MoveBack(0.25)", - "MoveRight(0.25)", - "MoveBack(0.25)", - "MoveBack(0.25)", - "Done" + "Rotate(right, 90)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Rotate(right, 90)", + "Rotate(left, 90)", + "Rotate(left, 90)", + "Move(backward, 0.25)", + "Move(backward, 0.25)", + "Move(right, 0.25)", + "Move(backward, 0.25)", + "Move(backward, 0.25)", + "EndTask(success)" ] } \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor03013/task.json b/ai2thor/tasks/ai2thor03013/task.json index 6109808b79a0bcda57bcec6fcc10809d4465ca53..67a16b4c3f3b97b49cf1ef370727b1458311ccc6 100644 --- a/ai2thor/tasks/ai2thor03013/task.json +++ b/ai2thor/tasks/ai2thor03013/task.json @@ -5,13 +5,13 @@ "golden_actions": { "steps": 7, "actions": [ - "PickupObject(DishSponge)", - "MoveAhead(1.0)", - "MoveLeft(1.0)", - "MoveAhead(0.25)", - "CleanObject(Cup)", - "CleanObject(Pan)", - "Done" + "Pick(DishSponge)", + "Move(forward, 1.0)", + "Move(left, 1.0)", + "Move(forward, 0.25)", + "Manipulate(Cup, clean)", + "Manipulate(Pan, clean)", + "EndTask(success)" ] }, "scene": "FloorPlan13", @@ -46,4 +46,4 @@ "Evaluation_Type": "Conditional", "Category": "Daily Household (Kitchen/Bedroom)", "Level": "Level3 Hybrid" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor03014/init.json b/ai2thor/tasks/ai2thor03014/init.json index 9a064aee675ae91cdfc40210638917156d8c0c1b..7ef0fde1a47f3d954bb52c8fbbdbaa998a26c852 100644 --- a/ai2thor/tasks/ai2thor03014/init.json +++ b/ai2thor/tasks/ai2thor03014/init.json @@ -1,13 +1,13 @@ { "scene": "FloorPlan13", "actions": [ - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveLeft(0.25)", - "MoveAhead(0.25)", - "LookDown", - "Done" + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(left, 0.25)", + "Move(forward, 0.25)", + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor03014/task.json b/ai2thor/tasks/ai2thor03014/task.json index f6b10e996ced26642d626afa7f459bfe5ff2e475..5539610ee6044456908e9f5f4950d099547935dd 100644 --- a/ai2thor/tasks/ai2thor03014/task.json +++ b/ai2thor/tasks/ai2thor03014/task.json @@ -5,15 +5,15 @@ "golden_actions": { "steps": 9, "actions": [ - "MoveRight(0.5)", - "SliceObject(Tomato)", - "RotateLeft(90)", - "MoveAhead(0.5)", - "MoveAhead(0.25)", - "RotateRight(90)", - "SliceObject(Potato)", - "SliceObject(Lettuce)", - "Done" + "Move(right, 0.5)", + "Manipulate(Tomato, slice)", + "Rotate(left, 90)", + "Move(forward, 0.5)", + "Move(forward, 0.25)", + "Rotate(right, 90)", + "Manipulate(Potato, slice)", + "Manipulate(Lettuce, slice)", + "EndTask(success)" ] }, "scene": "FloorPlan13", @@ -48,4 +48,4 @@ "Evaluation_Type": "Conditional", "Category": "Daily Household (Kitchen/Bedroom)", "Level": "Level2 Interaction" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor03015/init.json b/ai2thor/tasks/ai2thor03015/init.json index 5f56aa1553056eb624a7d9d6e5ea60657ebb2e2a..7f1b94934039b6dd886055188139ea77c698497c 100644 --- a/ai2thor/tasks/ai2thor03015/init.json +++ b/ai2thor/tasks/ai2thor03015/init.json @@ -1,21 +1,21 @@ { "scene": "FloorPlan14", "actions": [ - "LookDown", - "PickupObject(Egg)", - "RotateLeft(90)", - "RotateLeft(90)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "RotateLeft(90)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveRight(0.25)", - "MoveAhead(0.25)", - "OpenObject(Microwave)", - "PutObject(Microwave)", - "CloseObject(Microwave)", - "ToggleObjectOn(Microwave)", - "Done" + "Tilt(down, 30)", + "Pick(Egg)", + "Rotate(left, 90)", + "Rotate(left, 90)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Rotate(left, 90)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(right, 0.25)", + "Move(forward, 0.25)", + "Manipulate(Microwave, open)", + "Place(Microwave)", + "Manipulate(Microwave, close)", + "ChangeState(Microwave, on)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor03015/task.json b/ai2thor/tasks/ai2thor03015/task.json index 14d1af7fb6b6f9dea0d3ee4d3533c400122e0449..f632a066a574d88d9276c3958ff2e886061337e1 100644 --- a/ai2thor/tasks/ai2thor03015/task.json +++ b/ai2thor/tasks/ai2thor03015/task.json @@ -5,13 +5,13 @@ "golden_actions": { "steps": 7, "actions": [ - "ToggleObjectOff(Microwave)", - "OpenObject(Microwave)", - "PickupObject(Egg)", - "RotateLeft(90)", - "MoveAhead(1.0)", - "PutObject(Bowl)", - "Done" + "ChangeState(Microwave, off)", + "Manipulate(Microwave, open)", + "Pick(Egg)", + "Rotate(left, 90)", + "Move(forward, 1.0)", + "Place(Bowl)", + "EndTask(success)" ] }, "scene": "FloorPlan14", @@ -45,4 +45,4 @@ "Evaluation_Type": "Conditional", "Category": "Daily Household (Kitchen/Bedroom)", "Level": "Level3 Hybrid" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor03016/init.json b/ai2thor/tasks/ai2thor03016/init.json index 4434f3ac7c509aec5d986c51ea9fb2ff3e949b87..e226946707a97fb66ff5b03bbae8b449e0246672 100644 --- a/ai2thor/tasks/ai2thor03016/init.json +++ b/ai2thor/tasks/ai2thor03016/init.json @@ -1,12 +1,12 @@ { "scene": "FloorPlan14", "actions": [ - "RotateLeft(90)", - "RotateLeft(90)", - "RotateLeft(90)", - "MoveBack(0.25)", - "MoveLeft(0.25)", - "LookDown", - "Done" + "Rotate(left, 90)", + "Rotate(left, 90)", + "Rotate(left, 90)", + "Move(backward, 0.25)", + "Move(left, 0.25)", + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor03017/init.json b/ai2thor/tasks/ai2thor03017/init.json index 5042ac053d138ea3286ae0aece245674d0d6ed6d..f32c38f17ed1ddb45ef91029ee75f460e72f43d0 100644 --- a/ai2thor/tasks/ai2thor03017/init.json +++ b/ai2thor/tasks/ai2thor03017/init.json @@ -1,20 +1,20 @@ { "scene": "FloorPlan14", "actions": [ - "RotateRight(90)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "PickupObject(Spatula)", - "RotateLeft(90)", - "MoveAhead(0.25)", - "PutObject(CounterTop)", - "MoveBack(0.25)", - "MoveRight(0.25)", - "MoveBack(0.25)", - "MoveBack(0.25)", - "MoveBack(0.25)", - "LookDown", - "Done" + "Rotate(right, 90)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Pick(Spatula)", + "Rotate(left, 90)", + "Move(forward, 0.25)", + "Place(CounterTop)", + "Move(backward, 0.25)", + "Move(right, 0.25)", + "Move(backward, 0.25)", + "Move(backward, 0.25)", + "Move(backward, 0.25)", + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05559/task.json b/ai2thor/tasks/ai2thor05559/task.json index fceb0feabffb733eb7f319635386293d3c36c56b..38633379d77770c5a5785acd934225891fb8a730 100644 --- a/ai2thor/tasks/ai2thor05559/task.json +++ b/ai2thor/tasks/ai2thor05559/task.json @@ -5,18 +5,18 @@ "golden_actions": { "steps": 12, "actions": [ - "MoveRight(0.5)", - "MoveAhead(0.5)", - "MoveAhead(0.25)", - "PickupObject(Watch)", - "RotateLeft(90)", - "MoveLeft(0.5)", - "MoveAhead(1.0)", - "MoveAhead(1.0)", - "RotateRight(90)", - "PutObject(Dresser)", - "PickupObject(Laptop)", - "Done" + "Move(right, 0.5)", + "Move(forward, 0.5)", + "Move(forward, 0.25)", + "Pick(Watch)", + "Rotate(left, 90)", + "Move(left, 0.5)", + "Move(forward, 1.0)", + "Move(forward, 1.0)", + "Rotate(right, 90)", + "Place(Dresser)", + "Pick(Laptop)", + "EndTask(success)" ] }, "scene": "FloorPlan213", @@ -52,4 +52,4 @@ "Evaluation_Type": "Conditional", "Category": "DailyHousehold", "Level": "Level3" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05560/init.json b/ai2thor/tasks/ai2thor05560/init.json index 3046c138a1ce75d2ac646e3fd7a9e01a6c4c50e0..3c2cccb76c2bcec86329386a536ce36158ca4e7c 100644 --- a/ai2thor/tasks/ai2thor05560/init.json +++ b/ai2thor/tasks/ai2thor05560/init.json @@ -1,14 +1,14 @@ { "scene": "FloorPlan214", "actions": [ - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "LookDown", - "Done" + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05560/task.json b/ai2thor/tasks/ai2thor05560/task.json index 23013fb034359f184c0b2d9c62adb13ad8d733a0..bf8bed72346616e45c524feaaf5b6ec78dad4df9 100644 --- a/ai2thor/tasks/ai2thor05560/task.json +++ b/ai2thor/tasks/ai2thor05560/task.json @@ -5,21 +5,21 @@ "golden_actions": { "steps": 15, "actions": [ - "LookDown", - "MoveAhead(0.5)", - "MoveAhead(0.25)", - "MoveRight(0.25)", - "PickupObject(Vase)", - "RotateRight(90)", - "RotateRight(90)", - "MoveAhead(1.0)", - "MoveAhead(1.0)", - "MoveAhead(1.0)", - "MoveAhead(0.25)", - "RotateLeft(90)", - "MoveAhead(0.5)", - "PutObject(SideTable)", - "Done" + "Tilt(down, 30)", + "Move(forward, 0.5)", + "Move(forward, 0.25)", + "Move(right, 0.25)", + "Pick(Vase)", + "Rotate(right, 90)", + "Rotate(right, 90)", + "Move(forward, 1.0)", + "Move(forward, 1.0)", + "Move(forward, 1.0)", + "Move(forward, 0.25)", + "Rotate(left, 90)", + "Move(forward, 0.5)", + "Place(SideTable)", + "EndTask(success)" ] }, "scene": "FloorPlan214", @@ -48,4 +48,4 @@ "Evaluation_Type": "Conditional", "Category": "DailyHousehold", "Level": "Level3" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05561/init.json b/ai2thor/tasks/ai2thor05561/init.json index 69ac3994dc187becb5939d3e43a68558a97649d1..03fcaf2a468806d374bfa689a1363da77f92a070 100644 --- a/ai2thor/tasks/ai2thor05561/init.json +++ b/ai2thor/tasks/ai2thor05561/init.json @@ -1,14 +1,14 @@ { "scene": "FloorPlan215", "actions": [ - "RotateRight(90)", - "RotateRight(90)", - "MoveLeft(0.25)", - "MoveLeft(0.25)", - "MoveLeft(0.25)", - "MoveLeft(0.25)", - "MoveLeft(0.25)", - "LookDown", - "Done" + "Rotate(right, 90)", + "Rotate(right, 90)", + "Move(left, 0.25)", + "Move(left, 0.25)", + "Move(left, 0.25)", + "Move(left, 0.25)", + "Move(left, 0.25)", + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05561/task.json b/ai2thor/tasks/ai2thor05561/task.json index bbf902dce1d8d4b055edd702f2c213c477a1a5a4..38538ebd0261cf01413b7f48c4680d8b267bc7e3 100644 --- a/ai2thor/tasks/ai2thor05561/task.json +++ b/ai2thor/tasks/ai2thor05561/task.json @@ -5,26 +5,26 @@ "golden_actions": { "steps": 20, "actions": [ - "MoveAhead(0.5)", - "MoveAhead(0.25)", - "MoveRight(0.25)", - "LookDown", - "MoveAhead(0.25)", - "MoveRight(0.25)", - "FillObjectWithLiquid(WateringCan, water)", - "PickupObject(WateringCan)", - "RotateLeft(90)", - "RotateLeft(90)", - "MoveAhead(1.0)", - "PutObject(CoffeeTable)", - "RotateRight(90)", - "MoveAhead(1.0)", - "MoveAhead(0.5)", - "MoveAhead(0.25)", - "MoveRight(1.0)", - "MoveRight(0.25)", - "ToggleObjectOn(Television)", - "Done" + "Move(forward, 0.5)", + "Move(forward, 0.25)", + "Move(right, 0.25)", + "Tilt(down, 30)", + "Move(forward, 0.25)", + "Move(right, 0.25)", + "Manipulate(WateringCan, water, fillwithliquid)", + "Pick(WateringCan)", + "Rotate(left, 90)", + "Rotate(left, 90)", + "Move(forward, 1.0)", + "Place(CoffeeTable)", + "Rotate(right, 90)", + "Move(forward, 1.0)", + "Move(forward, 0.5)", + "Move(forward, 0.25)", + "Move(right, 1.0)", + "Move(right, 0.25)", + "ChangeState(Television, on)", + "EndTask(success)" ] }, "scene": "FloorPlan215", @@ -67,4 +67,4 @@ "Evaluation_Type": "Conditional", "Category": "Entertainment (Game/Sports)", "Level": "Level3" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05562/init.json b/ai2thor/tasks/ai2thor05562/init.json index f148399d15bc8152bb95060930d444a323a3fe78..e9f001d453d28805a59dd2fc25557370247d0545 100644 --- a/ai2thor/tasks/ai2thor05562/init.json +++ b/ai2thor/tasks/ai2thor05562/init.json @@ -1,27 +1,27 @@ { "scene": "FloorPlan205", "actions": [ - "MoveLeft(0.25)", - "MoveLeft(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "RotateLeft(90)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "LookDown", - "Done" + "Move(left, 0.25)", + "Move(left, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Rotate(left, 90)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05562/task.json b/ai2thor/tasks/ai2thor05562/task.json index 0d54891669b4cb328b8ba6eced3c739c4c5bafdc..a52d351b5ccb05413f63ad9155cf8ad15576d431 100644 --- a/ai2thor/tasks/ai2thor05562/task.json +++ b/ai2thor/tasks/ai2thor05562/task.json @@ -5,15 +5,15 @@ "golden_actions": { "steps": 9, "actions": [ - "LookDown", - "MoveAhead(0.5)", - "MoveAhead(0.25)", - "MoveLeft(0.25)", - "PickupObject(Watch)", - "PutObject(Box)", - "PickupObject(CreditCard)", - "PutObject(Box)", - "Done" + "Tilt(down, 30)", + "Move(forward, 0.5)", + "Move(forward, 0.25)", + "Move(left, 0.25)", + "Pick(Watch)", + "Place(Box)", + "Pick(CreditCard)", + "Place(Box)", + "EndTask(success)" ] }, "scene": "FloorPlan205", @@ -56,4 +56,4 @@ "Evaluation_Type": "Conditional", "Category": "DailyHousehold", "Level": "Level3" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05563/init.json b/ai2thor/tasks/ai2thor05563/init.json index 8beaa7dc7766101a9a441c9e57010c54b603c9cf..b56dbded4d2d1f7bb88383c76157dbdbbf5d94e9 100644 --- a/ai2thor/tasks/ai2thor05563/init.json +++ b/ai2thor/tasks/ai2thor05563/init.json @@ -1,10 +1,10 @@ { "scene": "FloorPlan206", "actions": [ - "RotateLeft(90)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "LookDown", - "Done" + "Rotate(left, 90)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05563/task.json b/ai2thor/tasks/ai2thor05563/task.json index b1c553ad1b396b634627984b2680e64d2b66fcf3..34364f79045c7bc3e78b1f5ebd8ae7044a3e957c 100644 --- a/ai2thor/tasks/ai2thor05563/task.json +++ b/ai2thor/tasks/ai2thor05563/task.json @@ -5,16 +5,16 @@ "golden_actions": { "steps": 10, "actions": [ - "MoveAhead(0.25)", - "LookDown", - "MoveAhead(0.25)", - "PickupObject(RemoteControl)", - "RotateRight(90)", - "MoveRight(0.25)", - "MoveAhead(0.5)", - "MoveAhead(0.25)", - "PutObject(CoffeeTable)", - "Done" + "Move(forward, 0.25)", + "Tilt(down, 30)", + "Move(forward, 0.25)", + "Pick(RemoteControl)", + "Rotate(right, 90)", + "Move(right, 0.25)", + "Move(forward, 0.5)", + "Move(forward, 0.25)", + "Place(CoffeeTable)", + "EndTask(success)" ] }, "scene": "FloorPlan206", @@ -43,4 +43,4 @@ "Evaluation_Type": "Conditional", "Category": "DailyHousehold", "Level": "Level3" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05564/init.json b/ai2thor/tasks/ai2thor05564/init.json index 79500769ed918fe5379c91889c3b6ee1a7954014..d02124745ea2c4e3616eddcd30a65cbfd8d05790 100644 --- a/ai2thor/tasks/ai2thor05564/init.json +++ b/ai2thor/tasks/ai2thor05564/init.json @@ -1,9 +1,9 @@ { "scene": "FloorPlan208", "actions": [ - "RotateRight(90)", - "RotateRight(90)", - "LookDown", - "Done" + "Rotate(right, 90)", + "Rotate(right, 90)", + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05564/task.json b/ai2thor/tasks/ai2thor05564/task.json index 073befa9479d265f53354e076f7348846d297e03..b4325482c8dce6d80167867a6e5a2b654a40ad21 100644 --- a/ai2thor/tasks/ai2thor05564/task.json +++ b/ai2thor/tasks/ai2thor05564/task.json @@ -5,20 +5,20 @@ "golden_actions": { "steps": 14, "actions": [ - "MoveAhead(0.5)", - "RotateRight(90)", - "MoveLeft(0.5)", - "MoveAhead(0.5)", - "MoveAhead(0.25)", - "ToggleObjectOff(LightSwitch)", - "RotateLeft(90)", - "RotateLeft(90)", - "MoveAhead(1.0)", - "MoveLeft(1.0)", - "MoveAhead(1.0)", - "MoveAhead(0.5)", - "ToggleObjectOff(FloorLamp)", - "Done" + "Move(forward, 0.5)", + "Rotate(right, 90)", + "Move(left, 0.5)", + "Move(forward, 0.5)", + "Move(forward, 0.25)", + "ChangeState(LightSwitch, off)", + "Rotate(left, 90)", + "Rotate(left, 90)", + "Move(forward, 1.0)", + "Move(left, 1.0)", + "Move(forward, 1.0)", + "Move(forward, 0.5)", + "ChangeState(FloorLamp, off)", + "EndTask(success)" ] }, "scene": "FloorPlan208", @@ -46,4 +46,4 @@ "Evaluation_Type": "Conditional", "Category": "DailyHousehold", "Level": "Level3" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05565/init.json b/ai2thor/tasks/ai2thor05565/init.json index 4b0dd5f1ac1126761fceab65a4a690eecf79d952..7e062f9391d08920e28cc05eaa8c063798a7dd26 100644 --- a/ai2thor/tasks/ai2thor05565/init.json +++ b/ai2thor/tasks/ai2thor05565/init.json @@ -1,23 +1,23 @@ { "scene": "FloorPlan218", "actions": [ - "MoveRight(0.25)", - "MoveRight(0.25)", - "MoveRight(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "LookDown", - "Done" + "Move(right, 0.25)", + "Move(right, 0.25)", + "Move(right, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05565/task.json b/ai2thor/tasks/ai2thor05565/task.json index 06b598e19638a8bd94c748bdbf4e14841c77aa7b..5e566d4170c6bd686eaf20ccf90ff730223d0cd6 100644 --- a/ai2thor/tasks/ai2thor05565/task.json +++ b/ai2thor/tasks/ai2thor05565/task.json @@ -5,27 +5,27 @@ "golden_actions": { "steps": 21, "actions": [ - "MoveAhead(0.5)", - "MoveLeft(0.5)", - "PickupObject(CellPhone)", - "RotateRight(90)", - "RotateRight(90)", - "MoveLeft(0.25)", - "MoveAhead(1.0)", - "MoveAhead(0.5)", - "MoveLeft(0.25)", - "MoveAhead(1.0)", - "MoveAhead(0.5)", - "RotateRight(90)", - "MoveAhead(0.25)", - "MoveLeft(0.5)", - "MoveAhead(1.0)", - "RotateRight(90)", - "MoveLeft(0.5)", - "LookDown", - "MoveAhead(0.5)", - "PutObject(Sofa)", - "Done" + "Move(forward, 0.5)", + "Move(left, 0.5)", + "Pick(CellPhone)", + "Rotate(right, 90)", + "Rotate(right, 90)", + "Move(left, 0.25)", + "Move(forward, 1.0)", + "Move(forward, 0.5)", + "Move(left, 0.25)", + "Move(forward, 1.0)", + "Move(forward, 0.5)", + "Rotate(right, 90)", + "Move(forward, 0.25)", + "Move(left, 0.5)", + "Move(forward, 1.0)", + "Rotate(right, 90)", + "Move(left, 0.5)", + "Tilt(down, 30)", + "Move(forward, 0.5)", + "Place(Sofa)", + "EndTask(success)" ] }, "scene": "FloorPlan218", @@ -54,4 +54,4 @@ "Evaluation_Type": "Conditional", "Category": "DailyHousehold", "Level": "Level3" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05566/init.json b/ai2thor/tasks/ai2thor05566/init.json index c29a80491bfb6c84c71c540f0aae94799ecce59b..58eaa20d7fba285c3d6502819807c748a7c7d52a 100644 --- a/ai2thor/tasks/ai2thor05566/init.json +++ b/ai2thor/tasks/ai2thor05566/init.json @@ -1,8 +1,8 @@ { "scene": "FloorPlan218", "actions": [ - "RotateLeft(90)", - "LookDown", - "Done" + "Rotate(left, 90)", + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05566/task.json b/ai2thor/tasks/ai2thor05566/task.json index 94699f568a3285a242c461786d460ce617a157cd..64d57bdcec7cca893146ca53554f40bb67320cb1 100644 --- a/ai2thor/tasks/ai2thor05566/task.json +++ b/ai2thor/tasks/ai2thor05566/task.json @@ -5,24 +5,24 @@ "golden_actions": { "steps": 18, "actions": [ - "MoveAhead(1.0)", - "MoveLeft(0.25)", - "MoveAhead(0.25)", - "FillObjectWithLiquid(WateringCan, wine)", - "PickupObject(WateringCan)", - "RotateRight(90)", - "RotateRight(90)", - "MoveAhead(1.0)", - "MoveAhead(1.0)", - "MoveAhead(0.25)", - "RotateLeft(90)", - "MoveAhead(1.0)", - "MoveAhead(1.0)", - "MoveAhead(1.0)", - "MoveAhead(1.0)", - "MoveAhead(0.25)", - "PutObject(DiningTable)", - "Done" + "Move(forward, 1.0)", + "Move(left, 0.25)", + "Move(forward, 0.25)", + "Manipulate(WateringCan, wine, fillwithliquid)", + "Pick(WateringCan)", + "Rotate(right, 90)", + "Rotate(right, 90)", + "Move(forward, 1.0)", + "Move(forward, 1.0)", + "Move(forward, 0.25)", + "Rotate(left, 90)", + "Move(forward, 1.0)", + "Move(forward, 1.0)", + "Move(forward, 1.0)", + "Move(forward, 1.0)", + "Move(forward, 0.25)", + "Place(DiningTable)", + "EndTask(success)" ] }, "scene": "FloorPlan218", @@ -51,4 +51,4 @@ "Evaluation_Type": "Conditional", "Category": "DailyHousehold", "Level": "Level3" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05567/init.json b/ai2thor/tasks/ai2thor05567/init.json index 4b0dd5f1ac1126761fceab65a4a690eecf79d952..7e062f9391d08920e28cc05eaa8c063798a7dd26 100644 --- a/ai2thor/tasks/ai2thor05567/init.json +++ b/ai2thor/tasks/ai2thor05567/init.json @@ -1,23 +1,23 @@ { "scene": "FloorPlan218", "actions": [ - "MoveRight(0.25)", - "MoveRight(0.25)", - "MoveRight(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "LookDown", - "Done" + "Move(right, 0.25)", + "Move(right, 0.25)", + "Move(right, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05567/task.json b/ai2thor/tasks/ai2thor05567/task.json index 19572c1f3881bca1b9c94a3a91fb1fda620f5a9b..33d9fd039cbbaadd0ccd3bead556caad3fb024ff 100644 --- a/ai2thor/tasks/ai2thor05567/task.json +++ b/ai2thor/tasks/ai2thor05567/task.json @@ -5,19 +5,19 @@ "golden_actions": { "steps": 13, "actions": [ - "MoveLeft(0.5)", - "MoveAhead(0.5)", - "PickupObject(CellPhone)", - "RotateRight(90)", - "RotateRight(90)", - "MoveLeft(1.0)", - "MoveAhead(1.0)", - "MoveAhead(1.0)", - "MoveAhead(1.0)", - "LookDown", - "MoveAhead(0.25)", - "PutObject(Chair)", - "Done" + "Move(left, 0.5)", + "Move(forward, 0.5)", + "Pick(CellPhone)", + "Rotate(right, 90)", + "Rotate(right, 90)", + "Move(left, 1.0)", + "Move(forward, 1.0)", + "Move(forward, 1.0)", + "Move(forward, 1.0)", + "Tilt(down, 30)", + "Move(forward, 0.25)", + "Place(Chair)", + "EndTask(success)" ] }, "scene": "FloorPlan218", @@ -46,4 +46,4 @@ "Evaluation_Type": "Conditional", "Category": "DailyHousehold", "Level": "Level3" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05568/init.json b/ai2thor/tasks/ai2thor05568/init.json index 203f3a905f04bce3a57541cf253bfab539f6b0ac..6510d90ec8dc3dcaec8dcd34c7a9f58eb4e0f1cb 100644 --- a/ai2thor/tasks/ai2thor05568/init.json +++ b/ai2thor/tasks/ai2thor05568/init.json @@ -1,9 +1,9 @@ { "scene": "FloorPlan401", "actions": [ - "RotateRight(90)", - "RotateRight(90)", - "LookDown", - "Done" + "Rotate(right, 90)", + "Rotate(right, 90)", + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05568/task.json b/ai2thor/tasks/ai2thor05568/task.json index 82f5468d9ff28e9940a118914e23632a789571f0..27dea66009cc1dc13ad97ae44a12f2d8b1b8b2fd 100644 --- a/ai2thor/tasks/ai2thor05568/task.json +++ b/ai2thor/tasks/ai2thor05568/task.json @@ -5,12 +5,12 @@ "golden_actions": { "steps": 6, "actions": [ - "MoveAhead(0.5)", - "PickupObject(DishSponge)", - "RotateRight(90)", - "MoveRight(0.5)", - "PutObject(Sink)", - "Done" + "Move(forward, 0.5)", + "Pick(DishSponge)", + "Rotate(right, 90)", + "Move(right, 0.5)", + "Place(Sink)", + "EndTask(success)" ] }, "scene": "FloorPlan401", @@ -39,4 +39,4 @@ "Evaluation_Type": "Conditional", "Category": "DailyHousehold", "Level": "Level3" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05569/task.json b/ai2thor/tasks/ai2thor05569/task.json index c64ef5eba5a6910e05e1ea562f2e85a999c6547f..082c01310683836e0ef96a727ade1218b9b619c8 100644 --- a/ai2thor/tasks/ai2thor05569/task.json +++ b/ai2thor/tasks/ai2thor05569/task.json @@ -5,14 +5,14 @@ "golden_actions": { "steps": 8, "actions": [ - "MoveAhead(0.5)", - "ToggleObjectOn(Faucet)", - "RotateRight(90)", - "MoveAhead(0.25)", - "LookDown", - "MoveAhead(0.25)", + "Move(forward, 0.5)", + "ChangeState(Faucet, on)", + "Rotate(right, 90)", + "Move(forward, 0.25)", + "Tilt(down, 30)", + "Move(forward, 0.25)", "DirtyObject(Cloth)", - "Done" + "EndTask(success)" ] }, "scene": "FloorPlan411", @@ -40,4 +40,4 @@ "Evaluation_Type": "Conditional", "Category": "DailyHousehold", "Level": "Level3" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05570/init.json b/ai2thor/tasks/ai2thor05570/init.json index 73928f4b7a0ca2313f1e7592755ec5abd489d9a8..8760dcf3e95981a6da7bbe9d415a3494be3d6b4c 100644 --- a/ai2thor/tasks/ai2thor05570/init.json +++ b/ai2thor/tasks/ai2thor05570/init.json @@ -1,7 +1,7 @@ { "scene": "FloorPlan412", "actions": [ - "LookDown", - "Done" + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05570/task.json b/ai2thor/tasks/ai2thor05570/task.json index 99f7da347611ff3ae648379bb4d580549e024c2c..8a513cbcc2245652ef00ea1568eafa5f43405e90 100644 --- a/ai2thor/tasks/ai2thor05570/task.json +++ b/ai2thor/tasks/ai2thor05570/task.json @@ -5,26 +5,26 @@ "golden_actions": { "steps": 20, "actions": [ - "MoveAhead(1.0)", - "MoveAhead(0.25)", - "MoveRight(0.5)", - "OpenObject(ShowerDoor)", - "MoveRight(0.25)", - "MoveAhead(0.25)", - "MoveRight(0.25)", - "MoveAhead(0.5)", - "RotateLeft(90)", - "MoveRight(0.25)", - "MoveAhead(0.25)", - "MoveRight(0.25)", - "MoveAhead(0.5)", - "MoveAhead(0.25)", - "ToggleObjectOn(ShowerHead)", - "RotateRight(90)", - "RotateRight(90)", - "MoveAhead(0.5)", - "PickupObject(Towel)", - "Done" + "Move(forward, 1.0)", + "Move(forward, 0.25)", + "Move(right, 0.5)", + "Manipulate(ShowerDoor, open)", + "Move(right, 0.25)", + "Move(forward, 0.25)", + "Move(right, 0.25)", + "Move(forward, 0.5)", + "Rotate(left, 90)", + "Move(right, 0.25)", + "Move(forward, 0.25)", + "Move(right, 0.25)", + "Move(forward, 0.5)", + "Move(forward, 0.25)", + "ChangeState(ShowerHead, on)", + "Rotate(right, 90)", + "Rotate(right, 90)", + "Move(forward, 0.5)", + "Pick(Towel)", + "EndTask(success)" ] }, "scene": "FloorPlan412", @@ -59,4 +59,4 @@ "Evaluation_Type": "Conditional", "Category": "DailyHousehold", "Level": "Level3" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05571/init.json b/ai2thor/tasks/ai2thor05571/init.json index 089b35d465fb8814f0a36c8f5cf869d0073b0564..f546291b115cdf31906a9fc3e856e8215d70e4eb 100644 --- a/ai2thor/tasks/ai2thor05571/init.json +++ b/ai2thor/tasks/ai2thor05571/init.json @@ -1,7 +1,7 @@ { "scene": "FloorPlan430", "actions": [ - "RotateRight(90)", - "Done" + "Rotate(right, 90)", + "EndTask(success)" ] } \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05571/task.json b/ai2thor/tasks/ai2thor05571/task.json index 4c454e3bacc993094f52519135dac81334d2252f..087a1102f7a16a7a96a5441bb9b418997d1abf1a 100644 --- a/ai2thor/tasks/ai2thor05571/task.json +++ b/ai2thor/tasks/ai2thor05571/task.json @@ -5,15 +5,15 @@ "golden_actions": { "steps": 9, "actions": [ - "MoveAhead(1.0)", - "MoveAhead(0.25)", - "PickupObject(Cloth)", - "RotateRight(90)", - "MoveRight(1.0)", - "MoveRight(1.0)", - "MoveAhead(1.0)", - "PutObject(SideTable)", - "Done" + "Move(forward, 1.0)", + "Move(forward, 0.25)", + "Pick(Cloth)", + "Rotate(right, 90)", + "Move(right, 1.0)", + "Move(right, 1.0)", + "Move(forward, 1.0)", + "Place(SideTable)", + "EndTask(success)" ] }, "scene": "FloorPlan412", @@ -42,4 +42,4 @@ "Evaluation_Type": "Conditional", "Category": "DailyHousehold", "Level": "Level3" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05572/init.json b/ai2thor/tasks/ai2thor05572/init.json index 1db407d12a6addb6cff10ce4a99f38356c3c8199..92659727a930619f357e5c552853c173c77e3f03 100644 --- a/ai2thor/tasks/ai2thor05572/init.json +++ b/ai2thor/tasks/ai2thor05572/init.json @@ -1,8 +1,8 @@ { "scene": "FloorPlan430", "actions": [ - "RotateRight(90)", - "LookDown", - "Done" + "Rotate(right, 90)", + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05572/task.json b/ai2thor/tasks/ai2thor05572/task.json index e7bd3a71789ad45eb06af587184101fbf968b352..d00b4e03ccd7612e701f3c2ee74bcc26e77c4793 100644 --- a/ai2thor/tasks/ai2thor05572/task.json +++ b/ai2thor/tasks/ai2thor05572/task.json @@ -5,20 +5,20 @@ "golden_actions": { "steps": 14, "actions": [ - "MoveAhead(1.0)", - "MoveAhead(0.5)", - "MoveLeft(0.5)", - "MoveLeft(0.25)", - "PickupObject(TissueBox)", - "RotateRight(90)", - "MoveRight(1.0)", - "MoveAhead(0.5)", - "MoveAhead(0.25)", - "MoveRight(1.0)", - "MoveAhead(1.0)", - "MoveRight(0.25)", - "PutObject(SideTable)", - "Done" + "Move(forward, 1.0)", + "Move(forward, 0.5)", + "Move(left, 0.5)", + "Move(left, 0.25)", + "Pick(TissueBox)", + "Rotate(right, 90)", + "Move(right, 1.0)", + "Move(forward, 0.5)", + "Move(forward, 0.25)", + "Move(right, 1.0)", + "Move(forward, 1.0)", + "Move(right, 0.25)", + "Place(SideTable)", + "EndTask(success)" ] }, "scene": "FloorPlan430", @@ -47,4 +47,4 @@ "Evaluation_Type": "Conditional", "Category": "DailyHousehold", "Level": "Level3" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05573/init.json b/ai2thor/tasks/ai2thor05573/init.json index 6aebacf43767af2421ceaede07b38cbff2f5640d..95fd42d8c638f4105ad803e7f08cc719415dacd1 100644 --- a/ai2thor/tasks/ai2thor05573/init.json +++ b/ai2thor/tasks/ai2thor05573/init.json @@ -1,7 +1,7 @@ { "scene": "FloorPlan409", "actions": [ - "LookDown", - "Done" + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05573/task.json b/ai2thor/tasks/ai2thor05573/task.json index 9a4d044cac20b125d21e947b7c298c709dcdddc8..4ffd45f489f9dbb9d31c6f233c53958d5b8ca07d 100644 --- a/ai2thor/tasks/ai2thor05573/task.json +++ b/ai2thor/tasks/ai2thor05573/task.json @@ -5,18 +5,18 @@ "golden_actions": { "steps": 12, "actions": [ - "MoveLeft(0.5)", - "MoveLeft(0.25)", - "PickupObject(Cloth)", - "MoveLeft(0.5)", - "MoveAhead(0.25)", - "LookDown", - "RotateLeft(90)", - "MoveAhead(0.25)", - "RotateRight(90)", - "MoveAhead(0.25)", - "PutObject(GarbageCan)", - "Done" + "Move(left, 0.5)", + "Move(left, 0.25)", + "Pick(Cloth)", + "Move(left, 0.5)", + "Move(forward, 0.25)", + "Tilt(down, 30)", + "Rotate(left, 90)", + "Move(forward, 0.25)", + "Rotate(right, 90)", + "Move(forward, 0.25)", + "Place(GarbageCan)", + "EndTask(success)" ] }, "scene": "FloorPlan409", @@ -44,4 +44,4 @@ "Evaluation_Type": "Conditional", "Category": "DailyHousehold", "Level": "Level3" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05574/init.json b/ai2thor/tasks/ai2thor05574/init.json index d8b1659179047eb25b9f95527fa63f1bc3cf2682..68807635b6877e9b62fb729ca5cc328cc9d67438 100644 --- a/ai2thor/tasks/ai2thor05574/init.json +++ b/ai2thor/tasks/ai2thor05574/init.json @@ -1,9 +1,9 @@ { "scene": "FloorPlan414", "actions": [ - "RotateLeft(90)", - "MoveRight(0.25)", - "LookDown", - "Done" + "Rotate(left, 90)", + "Move(right, 0.25)", + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05574/task.json b/ai2thor/tasks/ai2thor05574/task.json index 294352f8b1750384fd2da332b52d2687743d3767..beb692d81078935ad1c7b99889ace777487f5d8a 100644 --- a/ai2thor/tasks/ai2thor05574/task.json +++ b/ai2thor/tasks/ai2thor05574/task.json @@ -5,11 +5,11 @@ "golden_actions": { "steps": 5, "actions": [ - "MoveRight(0.5)", - "MoveAhead(0.25)", - "PickupObject(SoapBar)", - "PutObject(SinkBasin)", - "Done" + "Move(right, 0.5)", + "Move(forward, 0.25)", + "Pick(SoapBar)", + "Place(SinkBasin)", + "EndTask(success)" ] }, "scene": "FloorPlan414", @@ -31,4 +31,4 @@ "Evaluation_Type": "Conditional", "Category": "DailyHousehold", "Level": "Level3" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05575/init.json b/ai2thor/tasks/ai2thor05575/init.json index 30a0e66cdd24ca7eb02bf62b3e4713cd86c4ddf5..f8b0eff55e992f14e2e93a0da25ca886275cd728 100644 --- a/ai2thor/tasks/ai2thor05575/init.json +++ b/ai2thor/tasks/ai2thor05575/init.json @@ -1,9 +1,9 @@ { "scene": "FloorPlan417", "actions": [ - "RotateRight(90)", - "RotateRight(90)", - "LookDown", - "Done" + "Rotate(right, 90)", + "Rotate(right, 90)", + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05575/task.json b/ai2thor/tasks/ai2thor05575/task.json index 6a498172adc92d479224daf475f3b27c90df4a40..3f5889934417dfb0895201c0eacfc5957be5b3a3 100644 --- a/ai2thor/tasks/ai2thor05575/task.json +++ b/ai2thor/tasks/ai2thor05575/task.json @@ -5,23 +5,23 @@ "golden_actions": { "steps": 17, "actions": [ - "MoveRight(0.5)", - "MoveAhead(0.25)", - "PickupObject(SoapBottle)", - "RotateLeft(90)", - "MoveLeft(0.5)", - "MoveLeft(0.25)", - "MoveAhead(0.5)", - "MoveLeft(0.25)", - "MoveAhead(0.5)", - "MoveAhead(0.25)", - "MoveLeft(0.25)", - "MoveAhead(0.5)", - "MoveAhead(0.25)", - "LookDown", - "MoveAhead(0.25)", - "PutObject(GarbageCan)", - "Done" + "Move(right, 0.5)", + "Move(forward, 0.25)", + "Pick(SoapBottle)", + "Rotate(left, 90)", + "Move(left, 0.5)", + "Move(left, 0.25)", + "Move(forward, 0.5)", + "Move(left, 0.25)", + "Move(forward, 0.5)", + "Move(forward, 0.25)", + "Move(left, 0.25)", + "Move(forward, 0.5)", + "Move(forward, 0.25)", + "Tilt(down, 30)", + "Move(forward, 0.25)", + "Place(GarbageCan)", + "EndTask(success)" ] }, "scene": "FloorPlan417", @@ -43,4 +43,4 @@ "Evaluation_Type": "Conditional", "Category": "DailyHousehold", "Level": "Level3" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05576/init.json b/ai2thor/tasks/ai2thor05576/init.json index 52575c4908ed70b631bd07b369e7920aa468bff2..411206cd73cc1a357619ab8a647e5b1f418327e8 100644 --- a/ai2thor/tasks/ai2thor05576/init.json +++ b/ai2thor/tasks/ai2thor05576/init.json @@ -1,8 +1,8 @@ { "scene": "FloorPlan418", "actions": [ - "RotateRight(90)", - "LookDown", - "Done" + "Rotate(right, 90)", + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05576/task.json b/ai2thor/tasks/ai2thor05576/task.json index c22b7d76fb0cc10efa8cb109ed53014713878086..bf052592ce43f463c793215ec9a6ebd71c178b2f 100644 --- a/ai2thor/tasks/ai2thor05576/task.json +++ b/ai2thor/tasks/ai2thor05576/task.json @@ -5,18 +5,18 @@ "golden_actions": { "steps": 12, "actions": [ - "MoveAhead(0.5)", - "PickupObject(SoapBar)", - "MoveLeft(0.5)", - "MoveAhead(1.0)", - "MoveAhead(0.25)", - "RotateLeft(90)", - "MoveRight(0.5)", - "MoveRight(0.25)", - "LookDown", - "MoveAhead(0.5)", - "PutObject(GarbageCan)", - "Done" + "Move(forward, 0.5)", + "Pick(SoapBar)", + "Move(left, 0.5)", + "Move(forward, 1.0)", + "Move(forward, 0.25)", + "Rotate(left, 90)", + "Move(right, 0.5)", + "Move(right, 0.25)", + "Tilt(down, 30)", + "Move(forward, 0.5)", + "Place(GarbageCan)", + "EndTask(success)" ] }, "scene": "FloorPlan418", @@ -37,4 +37,4 @@ "Evaluation_Type": "Conditional", "Category": "DailyHousehold", "Level": "Level3" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05577/init.json b/ai2thor/tasks/ai2thor05577/init.json index 52575c4908ed70b631bd07b369e7920aa468bff2..411206cd73cc1a357619ab8a647e5b1f418327e8 100644 --- a/ai2thor/tasks/ai2thor05577/init.json +++ b/ai2thor/tasks/ai2thor05577/init.json @@ -1,8 +1,8 @@ { "scene": "FloorPlan418", "actions": [ - "RotateRight(90)", - "LookDown", - "Done" + "Rotate(right, 90)", + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05577/task.json b/ai2thor/tasks/ai2thor05577/task.json index 04b1a5f5dd0ab593348cac38597fc07abcb9f595..98febd876e7c3a761c7517af3336ba5f07b69928 100644 --- a/ai2thor/tasks/ai2thor05577/task.json +++ b/ai2thor/tasks/ai2thor05577/task.json @@ -5,20 +5,20 @@ "golden_actions": { "steps": 14, "actions": [ - "MoveLeft(0.25)", - "MoveAhead(1.0)", - "MoveAhead(1.0)", - "MoveAhead(0.25)", - "RotateLeft(90)", - "MoveAhead(0.25)", - "LookDown", - "MoveAhead(0.5)", - "PickupObject(ToiletPaper)", - "RotateLeft(90)", - "RotateLeft(90)", - "MoveAhead(0.5)", - "PutObject(CounterTop)", - "Done" + "Move(left, 0.25)", + "Move(forward, 1.0)", + "Move(forward, 1.0)", + "Move(forward, 0.25)", + "Rotate(left, 90)", + "Move(forward, 0.25)", + "Tilt(down, 30)", + "Move(forward, 0.5)", + "Pick(ToiletPaper)", + "Rotate(left, 90)", + "Rotate(left, 90)", + "Move(forward, 0.5)", + "Place(CounterTop)", + "EndTask(success)" ] }, "scene": "FloorPlan418", @@ -47,4 +47,4 @@ "Evaluation_Type": "Conditional", "Category": "DailyHousehold", "Level": "Level3" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05578/init.json b/ai2thor/tasks/ai2thor05578/init.json index 52575c4908ed70b631bd07b369e7920aa468bff2..411206cd73cc1a357619ab8a647e5b1f418327e8 100644 --- a/ai2thor/tasks/ai2thor05578/init.json +++ b/ai2thor/tasks/ai2thor05578/init.json @@ -1,8 +1,8 @@ { "scene": "FloorPlan418", "actions": [ - "RotateRight(90)", - "LookDown", - "Done" + "Rotate(right, 90)", + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05578/task.json b/ai2thor/tasks/ai2thor05578/task.json index 4be085731d7610944e737487b04cbeae5e5b9e95..60f25776f832d6c1c1ac32f34c88e10612254464 100644 --- a/ai2thor/tasks/ai2thor05578/task.json +++ b/ai2thor/tasks/ai2thor05578/task.json @@ -5,14 +5,14 @@ "golden_actions": { "steps": 8, "actions": [ - "MoveLeft(0.25)", - "MoveAhead(1.0)", - "MoveAhead(0.5)", - "LookDown", - "RotateRight(90)", - "ToggleObjectOn(Faucet)", - "PickupObject(ToiletPaper)", - "Done" + "Move(left, 0.25)", + "Move(forward, 1.0)", + "Move(forward, 0.5)", + "Tilt(down, 30)", + "Rotate(right, 90)", + "ChangeState(Faucet, on)", + "Pick(ToiletPaper)", + "EndTask(success)" ] }, "scene": "FloorPlan418", @@ -40,4 +40,4 @@ "Evaluation_Type": "Conditional", "Category": "DailyHousehold", "Level": "Level3" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05579/init.json b/ai2thor/tasks/ai2thor05579/init.json index 5285c102fb0aa03f4f6402d2b488df9ecdac09be..bb9622b570e45f62b4d672012be3a15b66075316 100644 --- a/ai2thor/tasks/ai2thor05579/init.json +++ b/ai2thor/tasks/ai2thor05579/init.json @@ -1,8 +1,8 @@ { "scene": "FloorPlan415", "actions": [ - "RotateRight(90)", - "LookDown", - "Done" + "Rotate(right, 90)", + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05579/task.json b/ai2thor/tasks/ai2thor05579/task.json index 48e50c75950ba781fc8f665f95dfe21200a61c57..0f0f4100aa1689309173fe14483ed42195ff3c12 100644 --- a/ai2thor/tasks/ai2thor05579/task.json +++ b/ai2thor/tasks/ai2thor05579/task.json @@ -5,17 +5,17 @@ "golden_actions": { "steps": 11, "actions": [ - "MoveAhead(1.0)", - "MoveAhead(0.5)", - "MoveAhead(0.25)", - "MoveRight(0.25)", - "RotateRight(90)", - "LookDown", - "PickupObject(Candle)", - "MoveAhead(0.25)", - "PutObject(CounterTop)", - "ToggleObjectOn(Candle)", - "Done" + "Move(forward, 1.0)", + "Move(forward, 0.5)", + "Move(forward, 0.25)", + "Move(right, 0.25)", + "Rotate(right, 90)", + "Tilt(down, 30)", + "Pick(Candle)", + "Move(forward, 0.25)", + "Place(CounterTop)", + "ChangeState(Candle, on)", + "EndTask(success)" ] }, "scene": "FloorPlan415", @@ -42,4 +42,4 @@ "Evaluation_Type": "Conditional", "Category": "DailyHousehold", "Level": "Level3" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05580/init.json b/ai2thor/tasks/ai2thor05580/init.json index 22a24cccb7f99eb03ce7cfe5a38c0c02045e809f..95270627da97055268a8b0a12121421b61bfb233 100644 --- a/ai2thor/tasks/ai2thor05580/init.json +++ b/ai2thor/tasks/ai2thor05580/init.json @@ -1,7 +1,7 @@ { "scene": "FloorPlan402", "actions": [ - "LookDown", - "Done" + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor05580/task.json b/ai2thor/tasks/ai2thor05580/task.json index 15041847da9dfc8966f8dc652e4600513ac60d02..88e63d2e45a1d3fcdc689f0e97a14526fd104aac 100644 --- a/ai2thor/tasks/ai2thor05580/task.json +++ b/ai2thor/tasks/ai2thor05580/task.json @@ -5,19 +5,19 @@ "golden_actions": { "steps": 13, "actions": [ - "MoveAhead(1.0)", - "RotateRight(90)", - "OpenObject(ShowerDoor)", - "MoveLeft(0.25)", - "MoveAhead(1.0)", - "MoveAhead(0.25)", - "RotateRight(90)", - "MoveAhead(1.0)", - "MoveAhead(0.5)", - "MoveAhead(0.25)", - "MoveLeft(0.25)", - "PickupObject(Cloth)", - "Done" + "Move(forward, 1.0)", + "Rotate(right, 90)", + "Manipulate(ShowerDoor, open)", + "Move(left, 0.25)", + "Move(forward, 1.0)", + "Move(forward, 0.25)", + "Rotate(right, 90)", + "Move(forward, 1.0)", + "Move(forward, 0.5)", + "Move(forward, 0.25)", + "Move(left, 0.25)", + "Pick(Cloth)", + "EndTask(success)" ] }, "scene": "FloorPlan402", @@ -45,4 +45,4 @@ "Evaluation_Type": "Conditional", "Category": "DailyHousehold", "Level": "Level3" -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor06000/init.json b/ai2thor/tasks/ai2thor06000/init.json index 6c3eae5f30d9a541c34ac4bc6c105f9f6c398e35..0674cb76af415f0d62b5c743991f3f3c0d13428f 100644 --- a/ai2thor/tasks/ai2thor06000/init.json +++ b/ai2thor/tasks/ai2thor06000/init.json @@ -1,62 +1,62 @@ { "scene": "FloorPlan301", "actions": [ - "RotateLeft(90)", - "MoveRight(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveRight(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "LookDown", - "MoveAhead(0.25)", - "PickupObject(Pencil)", - "RotateRight(90)", - "MoveRight(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveRight(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveLeft(0.25)", - "MoveAhead(0.25)", - "MoveLeft(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveRight(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveAhead(0.25)", - "MoveRight(0.25)", - "OpenObject(Drawer)", - "PutObject(Drawer)", - "MoveBack(0.25)", - "MoveBack(0.25)", - "MoveBack(0.25)", - "MoveBack(0.25)", - "MoveBack(0.25)", - "MoveRight(0.25)", - "MoveRight(0.25)", - "MoveRight(0.25)", - "MoveRight(0.25)", - "MoveRight(0.25)", - "MoveRight(0.25)", - "MoveRight(0.25)", - "MoveRight(0.25)", - "MoveRight(0.25)", - "RotateLeft(90)", - "MoveBack(0.25)", - "LookDown", - "Done" + "Rotate(left, 90)", + "Move(right, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(right, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Tilt(down, 30)", + "Move(forward, 0.25)", + "Pick(Pencil)", + "Rotate(right, 90)", + "Move(right, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(right, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(left, 0.25)", + "Move(forward, 0.25)", + "Move(left, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(right, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(forward, 0.25)", + "Move(right, 0.25)", + "Manipulate(Drawer, open)", + "Place(Drawer)", + "Move(backward, 0.25)", + "Move(backward, 0.25)", + "Move(backward, 0.25)", + "Move(backward, 0.25)", + "Move(backward, 0.25)", + "Move(right, 0.25)", + "Move(right, 0.25)", + "Move(right, 0.25)", + "Move(right, 0.25)", + "Move(right, 0.25)", + "Move(right, 0.25)", + "Move(right, 0.25)", + "Move(right, 0.25)", + "Move(right, 0.25)", + "Rotate(left, 90)", + "Move(backward, 0.25)", + "Tilt(down, 30)", + "EndTask(success)" ] -} +} \ No newline at end of file diff --git a/ai2thor/tasks/ai2thor06000/task.json b/ai2thor/tasks/ai2thor06000/task.json index 0049161f3f594fd1850e09f6f6c1ad6c721b2bb1..549df097395fa6d3f0fa3c75030ed3cf0904ee7a 100644 --- a/ai2thor/tasks/ai2thor06000/task.json +++ b/ai2thor/tasks/ai2thor06000/task.json @@ -5,23 +5,23 @@ "golden_actions": { "steps": 17, "actions": [ - "MoveAhead(1.0)", - "MoveAhead(1.0)", - "RotateRight(90)", - "MoveAhead(1.0)", - "MoveAhead(0.25)", - "PickupObject(Pencil)", - "RotateLeft(90)", - "RotateLeft(90)", - "MoveAhead(1.0)", - "MoveAhead(0.25)", - "MoveLeft(0.25)", - "MoveAhead(1.0)", - "MoveAhead(0.25)", - "RotateRight(90)", - "MoveAhead(0.5)", - "PutObject(Desk)", - "Done" + "Move(forward, 1.0)", + "Move(forward, 1.0)", + "Rotate(right, 90)", + "Move(forward, 1.0)", + "Move(forward, 0.25)", + "Pick(Pencil)", + "Rotate(left, 90)", + "Rotate(left, 90)", + "Move(forward, 1.0)", + "Move(forward, 0.25)", + "Move(left, 0.25)", + "Move(forward, 1.0)", + "Move(forward, 0.25)", + "Rotate(right, 90)", + "Move(forward, 0.5)", + "Place(Desk)", + "EndTask(success)" ] }, "scene": "FloorPlan301", @@ -49,4 +49,4 @@ "Evaluation_Type": "Conditional", "Category": "Entertainment (Game/Sports)", "Level": "Level3" -} +} \ No newline at end of file diff --git a/carla/tasks/carla00000/task.json b/carla/tasks/carla00000/task.json index 20994193d83adea43dc392551d6eafd78f5442f6..15ac82a346b8a9b13fb907a2b3ac44bf62f2264c 100644 --- a/carla/tasks/carla00000/task.json +++ b/carla/tasks/carla00000/task.json @@ -9,46 +9,46 @@ "golden_actions": { "steps": 11, "actions": [ -"TurnRight", -"TurnRight", -"TurnRight", -"TurnRight", -"TurnRight", -"TurnRight", -"TurnRight", -"TurnRight", -"WalkForward(distance=10)", -"WalkForward(distance=3)", -"Done" + "Rotate(right, 90)", + "Rotate(right, 90)", + "Rotate(right, 90)", + "Rotate(right, 90)", + "Rotate(right, 90)", + "Rotate(right, 90)", + "Rotate(right, 90)", + "Rotate(right, 90)", + "Move(forward, 10.0)", + "Move(forward, 3.0)", + "EndTask(success)" ] }, "scene": "Town01", "weather": "ClearSunset", - "success_conditions": { - "type": "polygon_area", - "target_polygon": [ - [ - 85.67361450195312, - 279.7303771972656, - 0.10087871551513672 - ], - [ - 89.50704956054688, - 279.7303771972656, - 0.10087871551513672 - ], - [ - 89.50704956054688, - 280.1695861816406, - 0.10087871551513672 - ], - [ - 85.67361450195312, - 280.1695861816406, - 0.10087871551513672 - ] -], - "threshold_label": "loose" - }, + "success_conditions": { + "type": "polygon_area", + "target_polygon": [ + [ + 85.67361450195312, + 279.7303771972656, + 0.10087871551513672 + ], + [ + 89.50704956054688, + 279.7303771972656, + 0.10087871551513672 + ], + [ + 89.50704956054688, + 280.1695861816406, + 0.10087871551513672 + ], + [ + 85.67361450195312, + 280.1695861816406, + 0.10087871551513672 + ] + ], + "threshold_label": "loose" + }, "max_steps": 30 } \ No newline at end of file diff --git a/carla/tasks/carla00200/task.json b/carla/tasks/carla00200/task.json index 284d4e86d56ac434f0c2c75ae23d47f95afe1d00..0ffd654c93c7223256a6c54640eef3cf798c39d4 100644 --- a/carla/tasks/carla00200/task.json +++ b/carla/tasks/carla00200/task.json @@ -9,16 +9,16 @@ "golden_actions": { "steps": 10, "actions": [ - "WalkForward(distance=10)", - "WalkForward(distance=10)", - "TurnRight", - "TurnRight", - "WalkForward(distance=10)", - "WalkForward(distance=10)", - "TurnLeft", - "TurnLeft", - "TurnLeft", - "Done" + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Rotate(right, 90)", + "Rotate(right, 90)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Rotate(left, 90)", + "Rotate(left, 90)", + "Rotate(left, 90)", + "EndTask(success)" ] }, "scene": "Town01", diff --git a/carla/tasks/carla00201/task.json b/carla/tasks/carla00201/task.json index ac496973f7b1137fb0ff62ea2089731a7830a210..0ac99a560f3b70bdacac27c3304b581b9c0930ee 100644 --- a/carla/tasks/carla00201/task.json +++ b/carla/tasks/carla00201/task.json @@ -9,14 +9,14 @@ "golden_actions": { "steps": 8, "actions": [ - "WalkForward(distance=10)", - "WalkForward(distance=10)", - "WalkForward(distance=10)", - "TurnRight", - "TurnRight", - "WalkForward(distance=10)", - "WalkForward(distance=3)", - "Done" + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Rotate(right, 90)", + "Rotate(right, 90)", + "Move(forward, 10.0)", + "Move(forward, 3.0)", + "EndTask(success)" ] }, "scene": "Town02", @@ -24,10 +24,26 @@ "success_conditions": { "type": "polygon_area", "target_polygon": [ - [-20.986454606966458, 222.23289286430287, 0.25], - [-16.54665184020996, 221.4500274658203, 0.25], - [-16.019133924527683, 224.44169820015026, 0.25], - [-20.45893669128418, 225.2245635986328, 0.25] + [ + -20.986454606966458, + 222.23289286430287, + 0.25 + ], + [ + -16.54665184020996, + 221.4500274658203, + 0.25 + ], + [ + -16.019133924527683, + 224.44169820015026, + 0.25 + ], + [ + -20.45893669128418, + 225.2245635986328, + 0.25 + ] ], "threshold_label": "loose" }, diff --git a/carla/tasks/carla00202/task.json b/carla/tasks/carla00202/task.json index 0161a5407bd9cebea37debe7548fc25a8c3d359d..2a16e90528da01634c00230a54b58dde7f9fa3f9 100644 --- a/carla/tasks/carla00202/task.json +++ b/carla/tasks/carla00202/task.json @@ -8,41 +8,41 @@ "instruction": "Walk to the streetlight in front of the gas station. You can turn and move in any direction.", "golden_actions": { "steps": 6, - "actions":[ -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"TurnRight", -"WalkForward(distance=10)", -"Done" -] + "actions": [ + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Rotate(right, 90)", + "Move(forward, 10.0)", + "EndTask(success)" + ] }, "scene": "Town03", "weather": "ClearSunset", "success_conditions": { "type": "polygon_area", - "target_polygon":[ - [ - -27.394559860229492, - 183.10986328125, - 0.08995580673217773 - ], - [ - -25.02674674987793, - 183.10986328125, - 0.08995580673217773 - ], - [ - -25.02674674987793, - 185.47769165039062, - 0.08995580673217773 - ], - [ - -27.394559860229492, - 185.47769165039062, - 0.08995580673217773 - ] -], + "target_polygon": [ + [ + -27.394559860229492, + 183.10986328125, + 0.08995580673217773 + ], + [ + -25.02674674987793, + 183.10986328125, + 0.08995580673217773 + ], + [ + -25.02674674987793, + 185.47769165039062, + 0.08995580673217773 + ], + [ + -27.394559860229492, + 185.47769165039062, + 0.08995580673217773 + ] + ], "threshold_label": "loose" }, "max_steps": 30 diff --git a/carla/tasks/carla00203/task.json b/carla/tasks/carla00203/task.json index 9daadd7675b4066fa6a4c5bf3fcc8a91a15a82ab..b87fdd9a753371c1ac67d7eaa440c6408f708c99 100644 --- a/carla/tasks/carla00203/task.json +++ b/carla/tasks/carla00203/task.json @@ -8,48 +8,48 @@ "instruction": "Walk to the church. You can turn and move in any direction.", "golden_actions": { "steps": 13, - "actions":[ -"WalkForward(distance=10)", -"TurnRight", -"TurnRight", -"TurnRight", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"TurnLeft", -"TurnLeft", -"TurnLeft", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"Done" -] + "actions": [ + "Move(forward, 10.0)", + "Rotate(right, 90)", + "Rotate(right, 90)", + "Rotate(right, 90)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Rotate(left, 90)", + "Rotate(left, 90)", + "Rotate(left, 90)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "EndTask(success)" + ] }, "scene": "Town04", "weather": "ClearSunset", "success_conditions": { "type": "polygon_area", - "target_polygon":[ - [ - 290.882568359375, - -294.34478759765625, - 0.16048622131347656 - ], - [ - 299.8791494835678, - -285.34819449378307, - 0.16048622131347656 - ], - [ - 292.24493408203125, - -277.7139892578125, - 0.16048622131347656 - ], - [ - 283.24835295783845, - -286.7105823616857, - 0.16048622131347656 - ] -], + "target_polygon": [ + [ + 290.882568359375, + -294.34478759765625, + 0.16048622131347656 + ], + [ + 299.8791494835678, + -285.34819449378307, + 0.16048622131347656 + ], + [ + 292.24493408203125, + -277.7139892578125, + 0.16048622131347656 + ], + [ + 283.24835295783845, + -286.7105823616857, + 0.16048622131347656 + ] + ], "threshold_label": "loose" }, "max_steps": 30 diff --git a/carla/tasks/carla00204/task.json b/carla/tasks/carla00204/task.json index 62f74c2355e85c23931b1e916da2529e3e6e8fa0..c5da34e89072d78b3849a1a24b5938b382e99a99 100644 --- a/carla/tasks/carla00204/task.json +++ b/carla/tasks/carla00204/task.json @@ -8,44 +8,44 @@ "instruction": "Walk to the yellow shop next to the trash can. You can turn and move in any direction.", "golden_actions": { "steps": 9, - "actions":[ -"WalkForward(distance=10)", -"TurnLeft", -"TurnLeft", -"WalkForward(distance=3)", -"TurnLeft", -"WalkForward(distance=10)", -"WalkForward(distance=3)", -"WalkForward(distance=3)", -"Done" -] + "actions": [ + "Move(forward, 10.0)", + "Rotate(left, 90)", + "Rotate(left, 90)", + "Move(forward, 3.0)", + "Rotate(left, 90)", + "Move(forward, 10.0)", + "Move(forward, 3.0)", + "Move(forward, 3.0)", + "EndTask(success)" + ] }, "scene": "Town05", "weather": "ClearSunset", "success_conditions": { "type": "polygon_area", - "target_polygon":[ - [ - -24.750477574908015, - -53.3148947804762, - 0.1662222146987915 - ], - [ - -27.939945220947266, - -53.31489562988281, - 0.1662222146987915 - ], - [ - -27.939944483197454, - -56.08509911600817, - 0.1662222146987915 - ], - [ - -24.750476837158203, - -56.08509826660156, - 0.1662222146987915 - ] -], + "target_polygon": [ + [ + -24.750477574908015, + -53.3148947804762, + 0.1662222146987915 + ], + [ + -27.939945220947266, + -53.31489562988281, + 0.1662222146987915 + ], + [ + -27.939944483197454, + -56.08509911600817, + 0.1662222146987915 + ], + [ + -24.750476837158203, + -56.08509826660156, + 0.1662222146987915 + ] + ], "threshold_label": "loose" }, "max_steps": 30 diff --git a/carla/tasks/carla00205/task.json b/carla/tasks/carla00205/task.json index a1a8d704505a754c46891673aacdd0c2f9d6019b..59db31bdac0237e78b3f678233f32560d031d147 100644 --- a/carla/tasks/carla00205/task.json +++ b/carla/tasks/carla00205/task.json @@ -9,23 +9,27 @@ "golden_actions": { "steps": 9, "actions": [ -"TurnLeft", -"TurnLeft", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"TurnLeft", -"WalkForward(distance=3)", -"WalkForward(distance=3)", -"Done" -] + "Rotate(left, 90)", + "Rotate(left, 90)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Rotate(left, 90)", + "Move(forward, 3.0)", + "Move(forward, 3.0)", + "EndTask(success)" + ] }, "scene": "Town01", "weather": "ClearSunset", "success_conditions": { - "type": "distance_to_waypoint", - "target_location": [168.8, 229.7, 1.1], - "threshold_label": "medium" - }, + "type": "distance_to_waypoint", + "target_location": [ + 168.8, + 229.7, + 1.1 + ], + "threshold_label": "medium" + }, "max_steps": 30 } \ No newline at end of file diff --git a/carla/tasks/carla00206/task.json b/carla/tasks/carla00206/task.json index 504bd3fea6f1eafd6ca32988be77626bbfe23e66..9307b9e604a21c86bd9d0d57c0431d7f7cbdd208 100644 --- a/carla/tasks/carla00206/task.json +++ b/carla/tasks/carla00206/task.json @@ -9,21 +9,25 @@ "golden_actions": { "steps": 7, "actions": [ -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"TurnLeft", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"Done" -] + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Rotate(left, 90)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "EndTask(success)" + ] }, "scene": "Town02", "weather": "ClearSunset", "success_conditions": { - "type": "distance_to_waypoint", - "target_location": [57.2, 250.2, 1.3], - "threshold_label": "medium" - }, + "type": "distance_to_waypoint", + "target_location": [ + 57.2, + 250.2, + 1.3 + ], + "threshold_label": "medium" + }, "max_steps": 30 } \ No newline at end of file diff --git a/carla/tasks/carla00207/task.json b/carla/tasks/carla00207/task.json index ddfc4d59b316434825c34fc5c60d3d21e1549460..e2ca5b280aa52b33783c919fe163c091378ef54d 100644 --- a/carla/tasks/carla00207/task.json +++ b/carla/tasks/carla00207/task.json @@ -8,30 +8,34 @@ "instruction": "Walk to the position marked by the red line in the screenshot.You can turn and move in any direction.", "golden_actions": { "steps": 15, - "actions":[ -"TurnLeft", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"TurnLeft", -"WalkForward(distance=10)", -"TurnLeft", -"WalkForward(distance=10)", -"TurnLeft", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"TurnRight", -"WalkForward(distance=10)", -"Done" -] + "actions": [ + "Rotate(left, 90)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Rotate(left, 90)", + "Move(forward, 10.0)", + "Rotate(left, 90)", + "Move(forward, 10.0)", + "Rotate(left, 90)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Rotate(right, 90)", + "Move(forward, 10.0)", + "EndTask(success)" + ] }, "scene": "Town03", "weather": "ClearSunset", "success_conditions": { - "type": "distance_to_waypoint", - "target_location": [163.0, 113.2, 1.3], - "threshold_label": "medium" - }, + "type": "distance_to_waypoint", + "target_location": [ + 163.0, + 113.2, + 1.3 + ], + "threshold_label": "medium" + }, "max_steps": 50 } \ No newline at end of file diff --git a/carla/tasks/carla00208/task.json b/carla/tasks/carla00208/task.json index d415fd92a0f05838b526285586d0af11d9cee10b..f1aefbd0fd78b307ed9ab8fac59439083d26db60 100644 --- a/carla/tasks/carla00208/task.json +++ b/carla/tasks/carla00208/task.json @@ -8,25 +8,29 @@ "instruction": "Walk to the position marked by the red line in the screenshot.You can turn and move in any direction.", "golden_actions": { "steps": 10, - "actions":[ -"TurnLeft", -"WalkForward(distance=10)", -"TurnLeft", -"TurnLeft", -"WalkForward(distance=10)", -"TurnLeft", -"TurnLeft", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"Done" -] + "actions": [ + "Rotate(left, 90)", + "Move(forward, 10.0)", + "Rotate(left, 90)", + "Rotate(left, 90)", + "Move(forward, 10.0)", + "Rotate(left, 90)", + "Rotate(left, 90)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "EndTask(success)" + ] }, "scene": "Town04", "weather": "ClearSunset", "success_conditions": { - "type": "distance_to_waypoint", - "target_location": [37.3, -97.1, 1.0], - "threshold_label": "medium" - }, + "type": "distance_to_waypoint", + "target_location": [ + 37.3, + -97.1, + 1.0 + ], + "threshold_label": "medium" + }, "max_steps": 50 } \ No newline at end of file diff --git a/carla/tasks/carla00209/task.json b/carla/tasks/carla00209/task.json index 6740797181eea2bcaff7fc227dc5c41246d530cc..dea5c925823b4b8fa35f8e3c684fd863f2921910 100644 --- a/carla/tasks/carla00209/task.json +++ b/carla/tasks/carla00209/task.json @@ -8,30 +8,34 @@ "instruction": "Walk to the position marked by the red line in the screenshot.You can turn and move in any direction.", "golden_actions": { "steps": 15, - "actions":[ -"TurnLeft", -"TurnLeft", -"WalkForward(distance=10)", -"TurnLeft", -"WalkForward(distance=10)", -"WalkForward(distance=3)", -"WalkForward(distance=3)", -"TurnRight", -"TurnRight", -"TurnRight", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"WalkForward(distance=3)", -"WalkForward(distance=3)", -"Done" -] + "actions": [ + "Rotate(left, 90)", + "Rotate(left, 90)", + "Move(forward, 10.0)", + "Rotate(left, 90)", + "Move(forward, 10.0)", + "Move(forward, 3.0)", + "Move(forward, 3.0)", + "Rotate(right, 90)", + "Rotate(right, 90)", + "Rotate(right, 90)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 3.0)", + "Move(forward, 3.0)", + "EndTask(success)" + ] }, "scene": "Town05", "weather": "ClearSunset", "success_conditions": { - "type": "distance_to_waypoint", - "target_location": [58.5, -38.1, 1.1], - "threshold_label": "medium" - }, + "type": "distance_to_waypoint", + "target_location": [ + 58.5, + -38.1, + 1.1 + ], + "threshold_label": "medium" + }, "max_steps": 50 } \ No newline at end of file diff --git a/carla/tasks/carla00210/task.json b/carla/tasks/carla00210/task.json index 4b47aa955d5ac92d51e11d3f3d26cc605ad333d5..c14eacc5bc3e45b63c92df39b4a62c65d733b362 100644 --- a/carla/tasks/carla00210/task.json +++ b/carla/tasks/carla00210/task.json @@ -8,44 +8,44 @@ "instruction": "Walk to the house with the yellow roof.You can turn and move in any direction.", "golden_actions": { "steps": 9, - "actions":[ -"TurnLeft", -"WalkForward(distance=10)", -"TurnLeft", -"TurnLeft", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"TurnLeft", -"WalkForward(distance=10)", -"Done" -] + "actions": [ + "Rotate(left, 90)", + "Move(forward, 10.0)", + "Rotate(left, 90)", + "Rotate(left, 90)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Rotate(left, 90)", + "Move(forward, 10.0)", + "EndTask(success)" + ] }, "scene": "Town01", "weather": "ClearSunset", "success_conditions": { "type": "polygon_area", "target_polygon": [ - [ - 107.01632058854588, - 222.82734680175798, - -0.06000018119812012 - ], - [ - 107.01631927490219, - 232.69264340310121, - -0.06000018119812012 - ], - [ - 98.07065450911037, - 232.6926422119139, - -0.06000018119812012 - ], - [ - 98.07065582275406, - 222.82734561057066, - -0.06000018119812012 - ] -], + [ + 107.01632058854588, + 222.82734680175798, + -0.06000018119812012 + ], + [ + 107.01631927490219, + 232.69264340310121, + -0.06000018119812012 + ], + [ + 98.07065450911037, + 232.6926422119139, + -0.06000018119812012 + ], + [ + 98.07065582275406, + 222.82734561057066, + -0.06000018119812012 + ] + ], "threshold_label": "loose" }, "max_steps": 30 diff --git a/carla/tasks/carla00211/task.json b/carla/tasks/carla00211/task.json index f3eb7670a4837acca73b6e7359759763627bfbb4..6f3b41e55dcddc9871055cde72f3d7e06f9a8d2e 100644 --- a/carla/tasks/carla00211/task.json +++ b/carla/tasks/carla00211/task.json @@ -8,46 +8,46 @@ "instruction": "Walk to the ResidentialBuildingRoundCorners.You can turn and move in any direction.", "golden_actions": { "steps": 11, - "actions":[ -"TurnLeft", -"TurnLeft", -"WalkForward(distance=10)", -"TurnLeft", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"TurnRight", -"TurnRight", -"WalkForward(distance=10)", -"Done" -] + "actions": [ + "Rotate(left, 90)", + "Rotate(left, 90)", + "Move(forward, 10.0)", + "Rotate(left, 90)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Rotate(right, 90)", + "Rotate(right, 90)", + "Move(forward, 10.0)", + "EndTask(success)" + ] }, "scene": "Town02", "weather": "ClearSunset", "success_conditions": { "type": "polygon_area", - "target_polygon":[ - [ - 178.6798858642578, - 245.93678283691406, - 0.16008758544921875 - ], - [ - 186.34010314941406, - 245.93678283691406, - 0.16008758544921875 - ], - [ - 186.34010314941406, - 255.78321838378906, - 0.16008758544921875 - ], - [ - 178.6798858642578, - 255.78321838378906, - 0.16008758544921875 - ] -], + "target_polygon": [ + [ + 178.6798858642578, + 245.93678283691406, + 0.16008758544921875 + ], + [ + 186.34010314941406, + 245.93678283691406, + 0.16008758544921875 + ], + [ + 186.34010314941406, + 255.78321838378906, + 0.16008758544921875 + ], + [ + 178.6798858642578, + 255.78321838378906, + 0.16008758544921875 + ] + ], "threshold_label": "loose" }, "max_steps": 30 diff --git a/carla/tasks/carla00212/task.json b/carla/tasks/carla00212/task.json index 625e7d5764725a125de90c29ba06c7d068cf22b6..6614c0f5eb03c4435adce4cfb71e90a1d04b954f 100644 --- a/carla/tasks/carla00212/task.json +++ b/carla/tasks/carla00212/task.json @@ -8,49 +8,49 @@ "instruction": "Walk to the HighwayLight_multiple.You can turn and move in any direction.", "golden_actions": { "steps": 14, - "actions":[ -"TurnLeft", -"TurnLeft", -"TurnLeft", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"TurnLeft", -"TurnLeft", -"WalkForward(distance=3)", -"WalkForward(distance=3)", -"WalkForward(distance=3)", -"Done" -] + "actions": [ + "Rotate(left, 90)", + "Rotate(left, 90)", + "Rotate(left, 90)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Rotate(left, 90)", + "Rotate(left, 90)", + "Move(forward, 3.0)", + "Move(forward, 3.0)", + "Move(forward, 3.0)", + "EndTask(success)" + ] }, "scene": "Town03", "weather": "ClearSunset", "success_conditions": { "type": "polygon_area", - "target_polygon":[ - [ - -29.655776977539062, - -2.724567174911499, - 0.0899667739868164 - ], - [ - -27.2879638671875, - -2.724567174911499, - 0.0899667739868164 - ], - [ - -27.2879638671875, - -0.3567523956298828, - 0.0899667739868164 - ], - [ - -29.655776977539062, - -0.3567523956298828, - 0.0899667739868164 - ] -], + "target_polygon": [ + [ + -29.655776977539062, + -2.724567174911499, + 0.0899667739868164 + ], + [ + -27.2879638671875, + -2.724567174911499, + 0.0899667739868164 + ], + [ + -27.2879638671875, + -0.3567523956298828, + 0.0899667739868164 + ], + [ + -29.655776977539062, + -0.3567523956298828, + 0.0899667739868164 + ] + ], "threshold_label": "loose" }, "max_steps": 50 diff --git a/carla/tasks/carla00213/task.json b/carla/tasks/carla00213/task.json index 76fb9782630d188728077b827a8dce7b9646aceb..76f3148d64af61eb64c7ebc543c9ceaa46d42163 100644 --- a/carla/tasks/carla00213/task.json +++ b/carla/tasks/carla00213/task.json @@ -8,48 +8,48 @@ "instruction": "Walk to under the billboard.You can turn and move in any direction.", "golden_actions": { "steps": 13, - "actions":[ -"WalkForward(distance=10)", -"TurnLeft", -"TurnLeft", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"TurnLeft", -"WalkForward(distance=10)", -"WalkForward(distance=3)", -"WalkForward(distance=3)", -"TurnRight", -"WalkForward(distance=3)", -"WalkForward(distance=3)", -"Done" -] + "actions": [ + "Move(forward, 10.0)", + "Rotate(left, 90)", + "Rotate(left, 90)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Rotate(left, 90)", + "Move(forward, 10.0)", + "Move(forward, 3.0)", + "Move(forward, 3.0)", + "Rotate(right, 90)", + "Move(forward, 3.0)", + "Move(forward, 3.0)", + "EndTask(success)" + ] }, "scene": "Town04", "weather": "ClearSunset", "success_conditions": { "type": "polygon_area", - "target_polygon":[ - [ - 190.18319702148438, - -365.9443664550781, - 0.04092884063720703 - ], - [ - 194.16801476313577, - -366.2929994836737, - 0.04092884063720703 - ], - [ - 195.00576782226562, - -356.7176208496094, - 0.04092884063720703 - ], - [ - 191.02095008061423, - -356.3689878210138, - 0.04092884063720703 - ] -], + "target_polygon": [ + [ + 190.18319702148438, + -365.9443664550781, + 0.04092884063720703 + ], + [ + 194.16801476313577, + -366.2929994836737, + 0.04092884063720703 + ], + [ + 195.00576782226562, + -356.7176208496094, + 0.04092884063720703 + ], + [ + 191.02095008061423, + -356.3689878210138, + 0.04092884063720703 + ] + ], "threshold_label": "loose" }, "max_steps": 50 diff --git a/carla/tasks/carla00214/task.json b/carla/tasks/carla00214/task.json index 45611b3e62adb6f90d3319cf49f77c97f2684643..23f78abf690af6a28c9776ac9e19fccb7e53e53e 100644 --- a/carla/tasks/carla00214/task.json +++ b/carla/tasks/carla00214/task.json @@ -8,47 +8,47 @@ "instruction": "Walk to the streetlight near the stone.You can turn and move in any direction.", "golden_actions": { "steps": 12, - "actions":[ -"TurnRight", -"TurnRight", -"WalkForward(distance=10)", -"TurnRight", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"TurnRight", -"TurnRight", -"TurnRight", -"Done" -] + "actions": [ + "Rotate(right, 90)", + "Rotate(right, 90)", + "Move(forward, 10.0)", + "Rotate(right, 90)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Rotate(right, 90)", + "Rotate(right, 90)", + "Rotate(right, 90)", + "EndTask(success)" + ] }, "scene": "Town05", "weather": "ClearSunset", "success_conditions": { "type": "polygon_area", - "target_polygon":[ - [ - -16.921325683592, - 100.81001369464602, - 0.10883235931396484 - ], - [ - -16.92133334038507, - 96.97657775878912, - 0.10883235931396484 - ], - [ - -16.482124328615033, - 96.97657688152586, - 0.10883235931396484 - ], - [ - -16.482116671821963, - 100.81001281738276, - 0.10883235931396484 - ] -], + "target_polygon": [ + [ + -16.921325683592, + 100.81001369464602, + 0.10883235931396484 + ], + [ + -16.92133334038507, + 96.97657775878912, + 0.10883235931396484 + ], + [ + -16.482124328615033, + 96.97657688152586, + 0.10883235931396484 + ], + [ + -16.482116671821963, + 100.81001281738276, + 0.10883235931396484 + ] + ], "threshold_label": "loose" }, "max_steps": 50 diff --git a/carla/tasks/carla00215/task.json b/carla/tasks/carla00215/task.json index 89faf34727ec5d0efd89b3c07b891ca9cc339627..2c291b59cd3c0afb395bc6bd25bb01ebe263ba81 100644 --- a/carla/tasks/carla00215/task.json +++ b/carla/tasks/carla00215/task.json @@ -8,25 +8,29 @@ "instruction": "Walk to the position marked by the red line in the screenshot.You can turn and move in any direction.", "golden_actions": { "steps": 10, - "actions":[ -"WalkForward(distance=10)", -"TurnRight", -"TurnRight", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"TurnRight", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"Done" -] + "actions": [ + "Move(forward, 10.0)", + "Rotate(right, 90)", + "Rotate(right, 90)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Rotate(right, 90)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "EndTask(success)" + ] }, "scene": "Town01", "weather": "ClearSunset", "success_conditions": { - "type": "distance_to_waypoint", - "target_location": [41.9, 32.9, 1.2], - "threshold_label": "medium" - }, + "type": "distance_to_waypoint", + "target_location": [ + 41.9, + 32.9, + 1.2 + ], + "threshold_label": "medium" + }, "max_steps": 30 } \ No newline at end of file diff --git a/carla/tasks/carla00216/task.json b/carla/tasks/carla00216/task.json index c33b97ff6067d45ebec17e07dcecd512b8779bfb..215a7204b2f839815c545f3df897392eb22c08ec 100644 --- a/carla/tasks/carla00216/task.json +++ b/carla/tasks/carla00216/task.json @@ -8,26 +8,30 @@ "instruction": "Walk to the position marked by the red line in the screenshot.You can turn and move in any direction.", "golden_actions": { "steps": 11, - "actions":[ -"TurnLeft", -"WalkForward(distance=10)", -"TurnLeft", -"TurnLeft", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"TurnLeft", -"TurnLeft", -"TurnLeft", -"WalkForward(distance=10)", -"Done" -] + "actions": [ + "Rotate(left, 90)", + "Move(forward, 10.0)", + "Rotate(left, 90)", + "Rotate(left, 90)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Rotate(left, 90)", + "Rotate(left, 90)", + "Rotate(left, 90)", + "Move(forward, 10.0)", + "EndTask(success)" + ] }, "scene": "Town02", "weather": "ClearSunset", "success_conditions": { - "type": "distance_to_waypoint", - "target_location": [162.3, 210.9, 1.3], - "threshold_label": "medium" - }, + "type": "distance_to_waypoint", + "target_location": [ + 162.3, + 210.9, + 1.3 + ], + "threshold_label": "medium" + }, "max_steps": 30 } \ No newline at end of file diff --git a/carla/tasks/carla00217/task.json b/carla/tasks/carla00217/task.json index 97b5858a88d9b5c679020f0e6ad13994ac78309a..d6f4f66300af222797ea0e24dc3eb203740de294 100644 --- a/carla/tasks/carla00217/task.json +++ b/carla/tasks/carla00217/task.json @@ -8,33 +8,37 @@ "instruction": "Walk to the position marked by the red line in the screenshot.You can turn and move in any direction.", "golden_actions": { "steps": 18, - "actions":[ -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"TurnLeft", -"TurnLeft", -"TurnLeft", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"TurnRight", -"TurnRight", -"TurnRight", -"WalkForward(distance=10)", -"Done" -] + "actions": [ + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Rotate(left, 90)", + "Rotate(left, 90)", + "Rotate(left, 90)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Rotate(right, 90)", + "Rotate(right, 90)", + "Rotate(right, 90)", + "Move(forward, 10.0)", + "EndTask(success)" + ] }, "scene": "Town03", "weather": "ClearSunset", "success_conditions": { - "type": "distance_to_waypoint", - "target_location": [116.7, -88.5, 9.1], - "threshold_label": "medium" - }, + "type": "distance_to_waypoint", + "target_location": [ + 116.7, + -88.5, + 9.1 + ], + "threshold_label": "medium" + }, "max_steps": 50 } \ No newline at end of file diff --git a/carla/tasks/carla00218/task.json b/carla/tasks/carla00218/task.json index 44b8fd435a82548e8281e42a5df0902ed1a558db..24ef84c0972c522135f407a3be49a9e53f9cfdd3 100644 --- a/carla/tasks/carla00218/task.json +++ b/carla/tasks/carla00218/task.json @@ -8,25 +8,29 @@ "instruction": "Walk to the position marked by the red line in the screenshot.You can turn and move in any direction.", "golden_actions": { "steps": 10, - "actions":[ -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"TurnLeft", -"WalkForward(distance=10)", -"TurnLeft", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"TurnLeft", -"WalkForward(distance=10)", -"Done" -] + "actions": [ + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Rotate(left, 90)", + "Move(forward, 10.0)", + "Rotate(left, 90)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Rotate(left, 90)", + "Move(forward, 10.0)", + "EndTask(success)" + ] }, "scene": "Town04", "weather": "ClearSunset", "success_conditions": { - "type": "distance_to_waypoint", - "target_location": [235.4, -123.9, 1.0], - "threshold_label": "medium" - }, + "type": "distance_to_waypoint", + "target_location": [ + 235.4, + -123.9, + 1.0 + ], + "threshold_label": "medium" + }, "max_steps": 30 } \ No newline at end of file diff --git a/carla/tasks/carla00219/task.json b/carla/tasks/carla00219/task.json index 76f5ccaae6f7614b5324f4bb1ab6c7313318da1c..0434322374c8c19d17cb6f4e74bf1d9f02116f61 100644 --- a/carla/tasks/carla00219/task.json +++ b/carla/tasks/carla00219/task.json @@ -8,27 +8,31 @@ "instruction": "Walk to the position marked by the red line in the screenshot.You can turn and move in any direction.", "golden_actions": { "steps": 12, - "actions":[ -"TurnLeft", -"TurnLeft", -"TurnLeft", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"TurnRight", -"TurnRight", -"WalkForward(distance=10)", -"TurnRight", -"WalkForward(distance=10)", -"WalkForward(distance=10)", -"Done" -] + "actions": [ + "Rotate(left, 90)", + "Rotate(left, 90)", + "Rotate(left, 90)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Rotate(right, 90)", + "Rotate(right, 90)", + "Move(forward, 10.0)", + "Rotate(right, 90)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "EndTask(success)" + ] }, "scene": "Town05", "weather": "ClearSunset", "success_conditions": { - "type": "distance_to_waypoint", - "target_location": [121.5, 43.2, 1.1], - "threshold_label": "medium" - }, + "type": "distance_to_waypoint", + "target_location": [ + 121.5, + 43.2, + 1.1 + ], + "threshold_label": "medium" + }, "max_steps": 30 } \ No newline at end of file diff --git a/carla/tasks/carla00300/task.json b/carla/tasks/carla00300/task.json index 41d82848f55881b780debd77cef709eecae8d970..4fd9ec929221a53fab984a03d8ab4a9971bfc377 100644 --- a/carla/tasks/carla00300/task.json +++ b/carla/tasks/carla00300/task.json @@ -8,48 +8,49 @@ "instruction": "I’m picking someone up. Please drive to the streetlight by the mailbox.", "golden_actions": { "steps": 13, - "actions": ["FollowLane(distance=3)", -"FollowLane(distance=3)", -"FollowLane(distance=3)", -"FollowLane(distance=3)", -"FollowLane(distance=3)", -"FollowLane(distance=3)", -"FollowLane(distance=3)", -"FollowLane(distance=3)", -"FollowLane(distance=3)", -"FollowLane(distance=3)", -"FollowLane(distance=3)", -"FollowLane(distance=3)", -"Done"] + "actions": [ + "Move(forward, 3.0)", + "Move(forward, 3.0)", + "Move(forward, 3.0)", + "Move(forward, 3.0)", + "Move(forward, 3.0)", + "Move(forward, 3.0)", + "Move(forward, 3.0)", + "Move(forward, 3.0)", + "Move(forward, 3.0)", + "Move(forward, 3.0)", + "Move(forward, 3.0)", + "Move(forward, 3.0)", + "EndTask(success)" + ] }, "scene": "Town01", "weather": "ClearSunset", - "success_conditions": { - "type": "polygon_area", - "target_polygon": [ - [ - 267.28961181640597, - 323.84060633854784, - 0.10087871551513672 - ], - [ - 267.2896148791228, - 327.67404174804443, - 0.10087871551513672 - ], - [ - 266.85040283203153, - 327.67404209895216, - 0.10087871551513672 - ], - [ - 266.8503997693147, - 323.84060668945557, - 0.10087871551513672 - ] - -], + "success_conditions": { + "type": "polygon_area", + "target_polygon": [ + [ + 267.28961181640597, + 323.84060633854784, + 0.10087871551513672 + ], + [ + 267.2896148791228, + 327.67404174804443, + 0.10087871551513672 + ], + [ + 266.85040283203153, + 327.67404209895216, + 0.10087871551513672 + ], + [ + 266.8503997693147, + 323.84060668945557, + 0.10087871551513672 + ] + ], "threshold_label": "loose" - }, + }, "max_steps": 30 } \ No newline at end of file diff --git a/carla/tasks/carla00301/task.json b/carla/tasks/carla00301/task.json index d269454a7ab9e74a76385b8ae0c1b4a8e61937e2..e463db2943fffd9cab40d6ee61126555832c11a6 100644 --- a/carla/tasks/carla00301/task.json +++ b/carla/tasks/carla00301/task.json @@ -9,44 +9,44 @@ "golden_actions": { "steps": 9, "actions": [ -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"TeleportTurnRight", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"Done" -] + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Rotate(right, 90)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "EndTask(success)" + ] }, "scene": "Town03", "weather": "ClearSunset", - "success_conditions": { - "type": "polygon_area", - "target_polygon": [ - [ - -64.09093475341797, - -1.562528133392334, - -0.14984750747680664 - ], - [ - -64.75300755727868, - 6.0050450671051685, - -0.14984750747680664 - ], - [ - -65.4372787475586, - 5.945179462432861, - -0.14984750747680664 - ], - [ - -64.77520594369788, - -1.6223937380646412, - -0.14984750747680664 - ] -], + "success_conditions": { + "type": "polygon_area", + "target_polygon": [ + [ + -64.09093475341797, + -1.562528133392334, + -0.14984750747680664 + ], + [ + -64.75300755727868, + 6.0050450671051685, + -0.14984750747680664 + ], + [ + -65.4372787475586, + 5.945179462432861, + -0.14984750747680664 + ], + [ + -64.77520594369788, + -1.6223937380646412, + -0.14984750747680664 + ] + ], "threshold_label": "loose" - }, + }, "max_steps": 30 } \ No newline at end of file diff --git a/carla/tasks/carla00302/task.json b/carla/tasks/carla00302/task.json index 35b472cab952b1c838d64e8e479594155715dbc6..f2779307ed6cb08bce8a78dca19b0b2996f604b5 100644 --- a/carla/tasks/carla00302/task.json +++ b/carla/tasks/carla00302/task.json @@ -9,43 +9,42 @@ "golden_actions": { "steps": 7, "actions": [ -"Stop", -"Stop", -"Stop", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"Done" -] + "EndTask(stopped)", + "EndTask(stopped)", + "EndTask(stopped)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "EndTask(success)" + ] }, "scene": "Town02", "weather": "ClearSunset", - "success_conditions": { - "type": "polygon_area", - "target_polygon": [ - [ - -9.538933753967285, - 208.7479705810547, - 1.8889340162277222 - ], - [ - -10.221066414227398, - 208.74797112604344, - 1.8889340162277222 - ], - [ - -10.22106647491455, - 208.67201232910156, - 1.8889340162277222 - ], - [ - -9.538933814654438, - 208.6720117841128, - 1.8889340162277222 - ] -] -, + "success_conditions": { + "type": "polygon_area", + "target_polygon": [ + [ + -9.538933753967285, + 208.7479705810547, + 1.8889340162277222 + ], + [ + -10.221066414227398, + 208.74797112604344, + 1.8889340162277222 + ], + [ + -10.22106647491455, + 208.67201232910156, + 1.8889340162277222 + ], + [ + -9.538933814654438, + 208.6720117841128, + 1.8889340162277222 + ] + ], "threshold_label": "loose" - }, + }, "max_steps": 30 } \ No newline at end of file diff --git a/carla/tasks/carla00303/task.json b/carla/tasks/carla00303/task.json index f5a0f34c1ee06967f5bb51e4989f8bd06ad5132e..57f59e6c8ee9d06a13f85a6e8eaceb5d69e35166 100644 --- a/carla/tasks/carla00303/task.json +++ b/carla/tasks/carla00303/task.json @@ -9,46 +9,44 @@ "golden_actions": { "steps": 9, "actions": [ -"Stop", -"Stop", -"Stop", -"FollowLane(distance=10)", -"TeleportTurnLeft", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"Done" -] + "EndTask(stopped)", + "EndTask(stopped)", + "EndTask(stopped)", + "Move(forward, 10.0)", + "Rotate(left, 90)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "EndTask(success)" + ] }, "scene": "Town02", "weather": "ClearSunset", - "success_conditions": { - "type": "polygon_area", - "target_polygon": [ - [ - 31.01598945272524, - 194.03395080566426, - 0.21999990940093994 - ], - [ - 31.01598930358867, - 194.1459504665192, - 0.21999990940093994 - ], - [ - 30.903989642733745, - 194.1459503173826, - 0.21999990940093994 - ], - [ - 30.903989791870316, - 194.03395065652768, - 0.21999990940093994 - ] -] - -, + "success_conditions": { + "type": "polygon_area", + "target_polygon": [ + [ + 31.01598945272524, + 194.03395080566426, + 0.21999990940093994 + ], + [ + 31.01598930358867, + 194.1459504665192, + 0.21999990940093994 + ], + [ + 30.903989642733745, + 194.1459503173826, + 0.21999990940093994 + ], + [ + 30.903989791870316, + 194.03395065652768, + 0.21999990940093994 + ] + ], "threshold_label": "loose" - }, + }, "max_steps": 30 } \ No newline at end of file diff --git a/carla/tasks/carla00304/task.json b/carla/tasks/carla00304/task.json index e1f4099ba062687354fa17c6e4498a87c480df54..d61c007aa6f73e56e666b700399a8755f0a2037d 100644 --- a/carla/tasks/carla00304/task.json +++ b/carla/tasks/carla00304/task.json @@ -9,59 +9,56 @@ "golden_actions": { "steps": 21, "actions": [ -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"Done" -] + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "EndTask(success)" + ] }, "scene": "Town01", "weather": "ClearSunset", - "success_conditions": { - "type": "polygon_area", - "target_polygon": [ - [ - 106.06397937177084, - 324.3360290527296, - 0.10324215888977051 - ], - [ - 106.06398010254384, - 324.22402881024743, - 0.10324215888977051 - ], - [ - 106.17598034502603, - 324.2240295410204, - 0.10324215888977051 - ], - [ - 106.17597961425304, - 324.33602978350257, - 0.10324215888977051 - ] -] - - -, + "success_conditions": { + "type": "polygon_area", + "target_polygon": [ + [ + 106.06397937177084, + 324.3360290527296, + 0.10324215888977051 + ], + [ + 106.06398010254384, + 324.22402881024743, + 0.10324215888977051 + ], + [ + 106.17598034502603, + 324.2240295410204, + 0.10324215888977051 + ], + [ + 106.17597961425304, + 324.33602978350257, + 0.10324215888977051 + ] + ], "threshold_label": "loose" - }, + }, "max_steps": 30 } \ No newline at end of file diff --git a/carla/tasks/carla00305/task.json b/carla/tasks/carla00305/task.json index d031d906825a68f153d2df895e264d85ba5ea1d6..ae551a6070ab05afbfc6928afef506392151ed72 100644 --- a/carla/tasks/carla00305/task.json +++ b/carla/tasks/carla00305/task.json @@ -8,47 +8,44 @@ "instruction": "Please go straight at the intersection ahead until the next streetlight.", "golden_actions": { "steps": 8, - "actions":[ -"Stop", -"Stop", -"Stop", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"Done" -] + "actions": [ + "EndTask(stopped)", + "EndTask(stopped)", + "EndTask(stopped)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "EndTask(success)" + ] }, "scene": "Town02", "weather": "ClearSunset", - "success_conditions": { - "type": "polygon_area", - "target_polygon": [ - [ - 66.22218271708631, - 194.35923767089838, - 0.3208787441253662 - ], - [ - 66.22218322753908, - 190.52580255382048, - 0.3208787441253662 - ], - [ - 66.66139272236681, - 190.52580261230474, - 0.3208787441253662 - ], - [ - 66.66139221191405, - 194.35923772938264, - 0.3208787441253662 - ] -] - - -, + "success_conditions": { + "type": "polygon_area", + "target_polygon": [ + [ + 66.22218271708631, + 194.35923767089838, + 0.3208787441253662 + ], + [ + 66.22218322753908, + 190.52580255382048, + 0.3208787441253662 + ], + [ + 66.66139272236681, + 190.52580261230474, + 0.3208787441253662 + ], + [ + 66.66139221191405, + 194.35923772938264, + 0.3208787441253662 + ] + ], "threshold_label": "loose" - }, + }, "max_steps": 30 } \ No newline at end of file diff --git a/carla/tasks/carla00306/task.json b/carla/tasks/carla00306/task.json index 79bf32cb97a78b92fcf9b4210e8aed6dd8c5a1e4..37af791efc97bcfc08df8d873a56c43be2e5b07b 100644 --- a/carla/tasks/carla00306/task.json +++ b/carla/tasks/carla00306/task.json @@ -8,48 +8,45 @@ "instruction": "Please turn right at the intersection ahead, then go straight to the traffic light at the next intersection.", "golden_actions": { "steps": 9, - "actions":[ -"Stop", -"Stop", -"Stop", -"FollowLane(distance=10)", -"TeleportTurnRight", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"Done" -] + "actions": [ + "EndTask(stopped)", + "EndTask(stopped)", + "EndTask(stopped)", + "Move(forward, 10.0)", + "Rotate(right, 90)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "EndTask(success)" + ] }, "scene": "Town02", "weather": "ClearSunset", - "success_conditions": { - "type": "polygon_area", - "target_polygon":[ - [ - 39.52599737065616, - 227.18598937988241, - 0.21999990940093994 - ], - [ - 39.413997650146875, - 227.18598958867372, - 0.21999990940093994 - ], - [ - 39.41399744135556, - 227.07398986816446, - 0.21999990940093994 - ], - [ - 39.525997161864844, - 227.07398965937315, - 0.21999990940093994 - ] -] - - -, + "success_conditions": { + "type": "polygon_area", + "target_polygon": [ + [ + 39.52599737065616, + 227.18598937988241, + 0.21999990940093994 + ], + [ + 39.413997650146875, + 227.18598958867372, + 0.21999990940093994 + ], + [ + 39.41399744135556, + 227.07398986816446, + 0.21999990940093994 + ], + [ + 39.525997161864844, + 227.07398965937315, + 0.21999990940093994 + ] + ], "threshold_label": "loose" - }, + }, "max_steps": 30 } \ No newline at end of file diff --git a/carla/tasks/carla00307/task.json b/carla/tasks/carla00307/task.json index d7dc42870f03be27fa1b5ba5a4bb4f89315e9bd8..f4086b80a26d45835343cc2dade91fd111cb3a7a 100644 --- a/carla/tasks/carla00307/task.json +++ b/carla/tasks/carla00307/task.json @@ -8,45 +8,41 @@ "instruction": "Please go straight through this intersection, stay in this lane, and stop at the very first streetlight you see along this roadside.", "golden_actions": { "steps": 5, - "actions":[ -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"Done" -] + "actions": [ + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "EndTask(success)" + ] }, "scene": "Town02", "weather": "ClearSunset", - "success_conditions": { - "type": "polygon_area", - "target_polygon":[ - [ - 38.812808990478516, - 275.0972595214844, - 0.3208887577056885 - ], - [ - 42.646244049072266, - 275.0972595214844, - 0.3208887577056885 - ], - [ - 42.646244049072266, - 275.5364685058594, - 0.3208887577056885 - ], - [ - 38.812808990478516, - 275.5364685058594, - 0.3208887577056885 - ] -] - - - -, + "success_conditions": { + "type": "polygon_area", + "target_polygon": [ + [ + 38.812808990478516, + 275.0972595214844, + 0.3208887577056885 + ], + [ + 42.646244049072266, + 275.0972595214844, + 0.3208887577056885 + ], + [ + 42.646244049072266, + 275.5364685058594, + 0.3208887577056885 + ], + [ + 38.812808990478516, + 275.5364685058594, + 0.3208887577056885 + ] + ], "threshold_label": "loose" - }, + }, "max_steps": 30 } \ No newline at end of file diff --git a/carla/tasks/carla00308/task.json b/carla/tasks/carla00308/task.json index 803f674a52020bcd1d23b1a7aaf9ce3025d0c271..fed41db0ed3eb0ba292706dee7e26799aa2b0a7d 100644 --- a/carla/tasks/carla00308/task.json +++ b/carla/tasks/carla00308/task.json @@ -8,45 +8,42 @@ "instruction": "Please go straight at this intersection until the next traffic light.", "golden_actions": { "steps": 6, - "actions":[ -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"Done" -] + "actions": [ + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "EndTask(success)" + ] }, "scene": "Town02", "weather": "ClearSunset", - "success_conditions": { - "type": "polygon_area", - "target_polygon":[ - [ - 39.385993957514955, - 289.58599925101083, - 0.21999990940093994 - ], - [ - 39.2739937299462, - 289.5859985351517, - 0.21999990940093994 - ], - [ - 39.27399444580536, - 289.4739983075829, - 0.21999990940093994 - ], - [ - 39.385994673374114, - 289.47399902344205, - 0.21999990940093994 - ] -] - - -, + "success_conditions": { + "type": "polygon_area", + "target_polygon": [ + [ + 39.385993957514955, + 289.58599925101083, + 0.21999990940093994 + ], + [ + 39.2739937299462, + 289.5859985351517, + 0.21999990940093994 + ], + [ + 39.27399444580536, + 289.4739983075829, + 0.21999990940093994 + ], + [ + 39.385994673374114, + 289.47399902344205, + 0.21999990940093994 + ] + ], "threshold_label": "loose" - }, + }, "max_steps": 30 } \ No newline at end of file diff --git a/carla/tasks/carla00309/task.json b/carla/tasks/carla00309/task.json index df2a36b7bbc414b820422b5bd2164c22bb8fc0ab..94456db489c08afc953c4195aab4993de968a4e0 100644 --- a/carla/tasks/carla00309/task.json +++ b/carla/tasks/carla00309/task.json @@ -7,47 +7,44 @@ "executor": "vehicle", "instruction": "Please turn right at the intersection ahead and drive to the next streetlight.", "golden_actions": { - "steps":7, - "actions":[ -"Stop", -"Stop", -"Stop", -"FollowLane(distance=10)", -"TeleportTurnRight", -"FollowLane(distance=10)", -"Done" -] + "steps": 7, + "actions": [ + "EndTask(stopped)", + "EndTask(stopped)", + "EndTask(stopped)", + "Move(forward, 10.0)", + "Rotate(right, 90)", + "Move(forward, 10.0)", + "EndTask(success)" + ] }, "scene": "Town02", "weather": "ClearSunset", - "success_conditions": { - "type": "polygon_area", - "target_polygon":[ - [ - 27.777415073879872, - 299.9660946197972, - 0.3208787441253662 - ], - [ - 27.77741813659668, - 303.7995300292969, - 0.3208787441253662 - ], - [ - 27.33820840024122, - 303.7995303802028, - 0.3208787441253662 - ], - [ - 27.338205337524414, - 299.9660949707031, - 0.3208787441253662 - ] -] - - -, + "success_conditions": { + "type": "polygon_area", + "target_polygon": [ + [ + 27.777415073879872, + 299.9660946197972, + 0.3208787441253662 + ], + [ + 27.77741813659668, + 303.7995300292969, + 0.3208787441253662 + ], + [ + 27.33820840024122, + 303.7995303802028, + 0.3208787441253662 + ], + [ + 27.338205337524414, + 299.9660949707031, + 0.3208787441253662 + ] + ], "threshold_label": "loose" - }, + }, "max_steps": 30 } \ No newline at end of file diff --git a/carla/tasks/carla00310/task.json b/carla/tasks/carla00310/task.json index 767af696ae978831910ed0165591f9d2d55a3476..31071cf1f09d7769e36368e5da1a61f79146903b 100644 --- a/carla/tasks/carla00310/task.json +++ b/carla/tasks/carla00310/task.json @@ -7,49 +7,46 @@ "executor": "vehicle", "instruction": "Please turn left at the intersection ahead and drive to the next streetlight.", "golden_actions": { - "steps":9, - "actions":[ -"Stop", -"Stop", -"Stop", -"FollowLane(distance=10)", -"TeleportTurnLeft", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"Done" -] - + "steps": 9, + "actions": [ + "EndTask(stopped)", + "EndTask(stopped)", + "EndTask(stopped)", + "Move(forward, 10.0)", + "Rotate(left, 90)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "EndTask(success)" + ] }, "scene": "Town02", "weather": "ClearSunset", - "success_conditions": { - "type": "polygon_area", - "target_polygon":[ - [ - 87.46208698631045, - 309.2628173828108, - 0.32082486152648926 - ], - [ - 87.46208953857442, - 305.4293820317977, - 0.32082486152648926 - ], - [ - 87.90130107521298, - 305.42938232422046, - 0.32082486152648926 - ], - [ - 87.90129852294902, - 309.2628176752336, - 0.32082486152648926 - ] -] - -, + "success_conditions": { + "type": "polygon_area", + "target_polygon": [ + [ + 87.46208698631045, + 309.2628173828108, + 0.32082486152648926 + ], + [ + 87.46208953857442, + 305.4293820317977, + 0.32082486152648926 + ], + [ + 87.90130107521298, + 305.42938232422046, + 0.32082486152648926 + ], + [ + 87.90129852294902, + 309.2628176752336, + 0.32082486152648926 + ] + ], "threshold_label": "loose" - }, + }, "max_steps": 30 } \ No newline at end of file diff --git a/carla/tasks/carla00311/task.json b/carla/tasks/carla00311/task.json index c3e911b15a20d28e6c7a08801527275b5365b1ed..1b6181fe8af42c5c3e9c79bb7f4c88ff93593441 100644 --- a/carla/tasks/carla00311/task.json +++ b/carla/tasks/carla00311/task.json @@ -7,69 +7,66 @@ "executor": "vehicle", "instruction": "Please go straight along the current road until you reach the speed limit sign.", "golden_actions": { - "steps":29, - "actions":[ -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"FollowLane(distance=10)", -"Done" -] - + "steps": 29, + "actions": [ + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "Move(forward, 10.0)", + "EndTask(success)" + ] }, "scene": "Town04", "weather": "ClearSunset", - "success_conditions": { - "type": "polygon_area", - "target_polygon":[ - [ - 378.0406188964841, - -214.07269272590725, - -0.12467384338378906 - ], - [ - 377.9627379353309, - -214.07269287109395, - -0.12467384338378906 - ], - [ - 377.96273803710966, - -214.12728896354588, - -0.12467384338378906 - ], - [ - 378.04061899826286, - -214.12728881835918, - -0.12467384338378906 - ] -] - -, + "success_conditions": { + "type": "polygon_area", + "target_polygon": [ + [ + 378.0406188964841, + -214.07269272590725, + -0.12467384338378906 + ], + [ + 377.9627379353309, + -214.07269287109395, + -0.12467384338378906 + ], + [ + 377.96273803710966, + -214.12728896354588, + -0.12467384338378906 + ], + [ + 378.04061899826286, + -214.12728881835918, + -0.12467384338378906 + ] + ], "threshold_label": "loose" - }, + }, "max_steps": 30 } \ No newline at end of file diff --git a/convert_actions.py b/convert_actions.py new file mode 100644 index 0000000000000000000000000000000000000000..e9aab1adf0634073a193d030ccc06471cb253d95 --- /dev/null +++ b/convert_actions.py @@ -0,0 +1,217 @@ +""" +Convert task actions to Unified Action Space format +Based on the table: +- Navigation: Move(direction, [granularity]) +- Viewpoint & Posture: Rotate(direction, [angle]), Tilt(direction, [angle]), ChangePosture(pose) +- Interaction: Pick/Place(obj, [target]), ChangeState(obj, state), Manipulate(obj, action) +- Task-Control & Coordination: EndTask(status), Communicate(msg) +""" + +import json +import os +import re +from pathlib import Path +from collections import Counter + +def extract_distance(params_str, default=1.0): + """Extract distance value from params string like 'distance=10' or just '1.0'""" + if not params_str: + return default + # Try distance=X pattern + match = re.search(r'distance=(\d+(?:\.\d+)?)', params_str) + if match: + return float(match.group(1)) + # Try direct number + match = re.search(r'^(\d+(?:\.\d+)?)$', params_str.strip()) + if match: + return float(match.group(1)) + return default + +def extract_angle(params_str, default=90): + """Extract angle value from params string""" + if not params_str: + return default + match = re.search(r'(\d+)', params_str) + if match: + return int(match.group(1)) + return default + +def parse_action(action_str): + """Parse action string like 'MoveAhead(1.0)' -> (name, params)""" + match = re.match(r'^(\w+)\s*(?:\(([^)]*)\))?$', action_str.strip()) + if match: + name = match.group(1) + params = match.group(2) if match.group(2) else '' + return name, params + return action_str, '' + +def convert_action(action_str): + """Convert a single action to unified format""" + name, params = parse_action(action_str) + + # Navigation - Move(direction, granularity) + if name == 'MoveAhead': + return f'Move("forward", {extract_distance(params, 1.0)})' + if name == 'MoveBack': + return f'Move("backward", {extract_distance(params, 1.0)})' + if name == 'MoveLeft': + return f'Move("left", {extract_distance(params, 1.0)})' + if name == 'MoveRight': + return f'Move("right", {extract_distance(params, 1.0)})' + if name == 'WalkForward': + return f'Move("forward", {extract_distance(params, 10)})' + if name == 'FollowLane': + return f'Move("forward", {extract_distance(params, 10)})' + if name == 'Move': + # Already in new format + return action_str + + # Viewpoint & Posture - Rotate/Tilt + if name == 'RotateLeft': + return f'Rotate("left", {extract_angle(params, 90)})' + if name == 'RotateRight': + return f'Rotate("right", {extract_angle(params, 90)})' + if name == 'TurnLeft': + return f'Rotate("left", 90)' + if name == 'TurnRight': + return f'Rotate("right", 90)' + if name == 'TeleportTurnLeft': + return f'Rotate("left", 90)' + if name == 'TeleportTurnRight': + return f'Rotate("right", 90)' + if name == 'Rotate': + return action_str # Already converted + + if name == 'LookUp': + return f'Tilt("up", {extract_angle(params, 30)})' + if name == 'LookDown': + return f'Tilt("down", {extract_angle(params, 30)})' + if name == 'Tilt': + return action_str # Already converted + + if name == 'ChangePosture': + return action_str + + # Interaction - Pick/Place + if name == 'PickupObject': + obj = params.strip() if params else 'object' + return f'Pick("{obj}")' + if name == 'PutObject': + obj = params.strip() if params else 'object' + return f'Place("{obj}")' + if name == 'DropHandObject': + return 'Place("held_object")' + + # Interaction - ChangeState + if name == 'ToggleObjectOn': + obj = params.strip() if params else 'object' + return f'ChangeState("{obj}", "on")' + if name == 'ToggleObjectOff': + obj = params.strip() if params else 'object' + return f'ChangeState("{obj}", "off")' + if name == 'ChangeState': + return action_str # Already converted + + # Interaction - Manipulate (complex actions) + if name in ['OpenObject', 'CloseObject', 'CleanObject', 'FillObjectWithLiquid', + 'SliceObject', 'BreakObject', 'CookObject', 'EmptyLiquidFromObject']: + obj = params.strip() if params else 'object' + action_name = name.replace('Object', '').lower() + return f'Manipulate("{obj}", "{action_name}")' + + if name == 'Manipulate': + return action_str # Already converted + + # Task-Control + if name == 'Done': + return 'EndTask("success")' + if name == 'Stop': + return 'EndTask("stopped")' + if name == 'EndTask': + return action_str # Already converted + + # Communication + if name == 'Communicate': + return action_str # Already converted + + # Unknown action - return as-is + return action_str + +def convert_task_file(filepath, stats): + """Convert actions in a single task file""" + try: + with open(filepath, 'r', encoding='utf-8') as f: + data = json.load(f) + + if 'golden_actions' not in data or 'actions' not in data['golden_actions']: + return False, "No golden_actions" + + original_actions = data['golden_actions']['actions'] + if not original_actions: + return False, "Empty actions" + + converted_actions = [] + has_changes = False + + for a in original_actions: + converted = convert_action(a) + converted_actions.append(converted) + if converted != a: + has_changes = True + old_name, _ = parse_action(a) + new_name, _ = parse_action(converted) + key = f"{old_name} -> {new_name}" + stats[key] += 1 + + if not has_changes: + return False, "No changes needed" + + # Update data + data['golden_actions']['actions'] = converted_actions + + # Write back + with open(filepath, 'w', encoding='utf-8') as f: + json.dump(data, f, indent=2, ensure_ascii=False) + + return True, None + + except Exception as e: + return False, str(e) + +def main(): + base_dir = Path(".") + stats = Counter() + + converted = 0 + unchanged = 0 + errors = 0 + no_actions = 0 + + # Find all task.json files + for task_file in base_dir.rglob("task.json"): + success, msg = convert_task_file(task_file, stats) + if success: + converted += 1 + elif msg == "No changes needed": + unchanged += 1 + elif msg == "No golden_actions": + no_actions += 1 + else: + errors += 1 + print(f"Warning: {task_file} - {msg}") + + print(f"\n{'='*70}") + print(f"Conversion Summary") + print(f"{'='*70}") + print(f"Files modified: {converted}") + print(f"Files unchanged: {unchanged}") + print(f"Files without golden_actions: {no_actions}") + print(f"Errors: {errors}") + print(f"Total processed: {converted + unchanged + errors + no_actions}") + + print(f"\nAction conversion statistics (top 30):") + for key, count in stats.most_common(30): + print(f" {count:6d} | {key}") + +if __name__ == "__main__": + main() diff --git a/convert_init_actions.py b/convert_init_actions.py new file mode 100644 index 0000000000000000000000000000000000000000..d6d03c9f0080cecc9e7d60f9b80e4341673a2973 --- /dev/null +++ b/convert_init_actions.py @@ -0,0 +1,181 @@ +""" +Convert init.json actions to Unified Action Space format +""" + +import json +import os +import re +from pathlib import Path +from collections import Counter + +def extract_distance(params_str, default=1.0): + if not params_str: + return default + match = re.search(r'distance=(\d+(?:\.\d+)?)', params_str) + if match: + return float(match.group(1)) + match = re.search(r'^(\d+(?:\.\d+)?)$', params_str.strip()) + if match: + return float(match.group(1)) + return default + +def extract_angle(params_str, default=90): + if not params_str: + return default + match = re.search(r'(\d+)', params_str) + if match: + return int(match.group(1)) + return default + +def parse_action(action_str): + match = re.match(r'^(\w+)\s*(?:\(([^)]*)\))?$', action_str.strip()) + if match: + name = match.group(1) + params = match.group(2) if match.group(2) else '' + return name, params + return action_str, '' + +def convert_action(action_str): + """Convert a single action to unified format (without escaped quotes for readability)""" + name, params = parse_action(action_str) + + # Navigation + if name == 'MoveAhead': + return f'Move(forward, {extract_distance(params, 1.0)})' + if name == 'MoveBack': + return f'Move(backward, {extract_distance(params, 1.0)})' + if name == 'MoveLeft': + return f'Move(left, {extract_distance(params, 1.0)})' + if name == 'MoveRight': + return f'Move(right, {extract_distance(params, 1.0)})' + if name == 'WalkForward': + return f'Move(forward, {extract_distance(params, 10)})' + if name == 'FollowLane': + return f'Move(forward, {extract_distance(params, 10)})' + + # Rotation + if name == 'RotateLeft': + return f'Rotate(left, {extract_angle(params, 90)})' + if name == 'RotateRight': + return f'Rotate(right, {extract_angle(params, 90)})' + if name == 'TurnLeft': + return 'Rotate(left, 90)' + if name == 'TurnRight': + return 'Rotate(right, 90)' + if name == 'TeleportTurnLeft': + return 'Rotate(left, 90)' + if name == 'TeleportTurnRight': + return 'Rotate(right, 90)' + + # Tilt + if name == 'LookUp': + return f'Tilt(up, {extract_angle(params, 30)})' + if name == 'LookDown': + return f'Tilt(down, {extract_angle(params, 30)})' + + # Interaction - Pick/Place + if name == 'PickupObject': + obj = params.strip() if params else 'object' + return f'Pick({obj})' + if name == 'PutObject': + obj = params.strip() if params else 'object' + return f'Place({obj})' + if name == 'DropHandObject': + return 'Place(held_object)' + + # Interaction - ChangeState + if name == 'ToggleObjectOn': + obj = params.strip() if params else 'object' + return f'ChangeState({obj}, on)' + if name == 'ToggleObjectOff': + obj = params.strip() if params else 'object' + return f'ChangeState({obj}, off)' + + # Interaction - Manipulate + if name in ['OpenObject', 'CloseObject', 'CleanObject', 'FillObjectWithLiquid', + 'SliceObject', 'BreakObject', 'CookObject', 'EmptyLiquidFromObject']: + obj = params.strip() if params else 'object' + action_name = name.replace('Object', '').lower() + return f'Manipulate({obj}, {action_name})' + + # Task-Control + if name == 'Done': + return 'EndTask(success)' + if name == 'Stop': + return 'EndTask(stopped)' + + return action_str + +def convert_init_file(filepath, stats): + """Convert actions in a single init.json file""" + try: + with open(filepath, 'r', encoding='utf-8') as f: + data = json.load(f) + + if 'actions' not in data or not data['actions']: + return False, "No actions" + + original_actions = data['actions'] + converted_actions = [] + has_changes = False + + for a in original_actions: + converted = convert_action(a) + converted_actions.append(converted) + if converted != a: + has_changes = True + old_name, _ = parse_action(a) + new_name, _ = parse_action(converted) + key = f"{old_name} -> {new_name}" + stats[key] += 1 + + if not has_changes: + return False, "No changes needed" + + data['actions'] = converted_actions + + with open(filepath, 'w', encoding='utf-8') as f: + json.dump(data, f, indent=2, ensure_ascii=False) + + return True, None + + except Exception as e: + return False, str(e) + +def main(): + base_dir = Path(".") + stats = Counter() + + converted = 0 + unchanged = 0 + no_actions = 0 + errors = 0 + + for init_file in base_dir.rglob("init.json"): + success, msg = convert_init_file(init_file, stats) + if success: + converted += 1 + elif msg == "No changes needed": + unchanged += 1 + elif msg == "No actions": + no_actions += 1 + else: + errors += 1 + print(f"Warning: {init_file} - {msg}") + + print(f"\n{'='*70}") + print(f"Init.json Conversion Summary") + print(f"{'='*70}") + print(f"Files modified: {converted}") + print(f"Files unchanged: {unchanged}") + print(f"Files without actions: {no_actions}") + print(f"Errors: {errors}") + print(f"Total processed: {converted + unchanged + errors + no_actions}") + + if stats: + print(f"\nAction conversion statistics (top 20):") + for key, count in stats.most_common(20): + print(f" {count:6d} | {key}") + +if __name__ == "__main__": + main()